Diff: main.cpp

Revision:

14:899c6d29c0a8

Parent:

13:f81c8451d601

Child:

15:415c38c93b89

diff -r f81c8451d601 -r 899c6d29c0a8 main.cpp
--- a/main.cpp	Fri Oct 25 13:24:47 2019 +0000
+++ b/main.cpp	Fri Oct 25 13:53:17 2019 +0000
@@ -49,7 +49,7 @@
     motor.setProportionnalValue(2.0);
     motor.setintegralValue(0.4);
     motor.setDerivativeValue(1.0);
-    double speed_L = -50, speed_R = -50;
+    double speed_L = -200, speed_R = -200;
     while (1) {
         
         motor.getPosition(&x, &y, &theta);
@@ -62,7 +62,7 @@
             break;
          
          case TURN_RIGHT :
-             motor.setSpeed(-speed_L,speed_R);// turn right
+             motor.setSpeed(-speed_L/10.0,speed_R/10.0);// turn right
             
             if (pixy.checkNewImage()) {
             pixy.detectedObject(&numberOfObjects,&dummy);
@@ -98,11 +98,11 @@
                 file=pixy.getNMBloc();
                 pc.printf("\r x = %d", file.x);
                 if (file.x >165){
-                    motor.setSpeed(-speed_L,speed_R);// turn right
+                    motor.setSpeed(-speed_L/10.0,speed_R/10.0);// turn right
                     pc.printf(" - Turning right");
                 }
                 else if (file.x <155){
-                    motor.setSpeed(speed_L,-speed_R);// turn left
+                    motor.setSpeed(speed_L/10.0,-speed_R/10.0);// turn left
                     pc.printf(" - Turning left");
                 }
                 else {