Diff: main.cpp

Revision:

6:5ab1735265a9

Parent:

5:eb706d3e512c

--- a/main.cpp	Tue Oct 21 14:02:19 2014 +0000
+++ b/main.cpp	Tue Oct 21 21:59:15 2014 +0000
@@ -32,8 +32,8 @@
 void Motorcontroller(void const *args)
 {
 
-    Current_Right_pulse= right.getPulses()/5;
-    Current_Left_pulse=left.getPulses()*(-1)/5;
+    Current_Right_pulse= right.getPulses()/10;
+    Current_Left_pulse=left.getPulses()*(-1)/9.85;
 
     Change_Right_pulse=Current_Right_pulse- Previos_Right_pulse;
     Change_Left_pulse=Current_Left_pulse- Previous_Left_pulse;
@@ -69,8 +69,8 @@
     if(Last_Error_Left==100) {
         Linput=0;
     }
-    *motors.Left = -Linput;          // HARSH change to -Linput for black and Linput for blue
-    *motors.Right = Rinput;        //// HARSH change to Rinput for black and -Rinput for blue
+    *motors.Left = Linput;          // HARSH change to -Linput for black and Linput for blue
+    *motors.Right = -Rinput;        //// HARSH change to Rinput for black and -Rinput for blue
 }
 char c;
 char buffer[10];