Diff: main.cpp

Revision:

18:10adf96f5416

Parent:

15:9c5aaeda36dc

diff -r 9c5aaeda36dc -r 10adf96f5416 main.cpp
--- a/main.cpp	Sat Apr 06 20:57:54 2013 +0000
+++ b/main.cpp	Sun Apr 07 18:04:48 2013 +0000
@@ -117,6 +117,7 @@
 #include <cstdlib>
 using namespace std;
 
+/*
 void printingtestthread(void const*){
     const char ID = 1;
     float buffer[3] = {ID};
@@ -142,7 +143,7 @@
         Thread::wait(500);
     }
 }
-
+*/
 
 void feedbacktest(){
     Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
@@ -155,7 +156,7 @@
     
     while(true){
         float expecdist = fwdspeed * timer.read();
-        float errleft = Eleft.getPoint() - (expecdist*1.05);
+        float errleft = Eleft.getPoint() - (expecdist*1.00);
         float errright = Eright.getPoint() - expecdist;
         
         mleft(max(min(errleft*Pgain, 0.4f), -0.4f));