Revision 6fab3966

View differences:

scout/libscout/src/LinesensorControl.cpp
85 85
        return last_ret;
86 86
    }
87 87
    
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    double ret_val = last_ret = ((double) weighted_total / total_read) - 4;
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    double ret_val = last_ret = ((double) weighted_total / total_read) - 3.5;
89 89
    return ret_val;
90 90
}
91 91

  
scout/libscout/src/behaviors/line_follow.cpp
38 38
    {
39 39
        double line_loc = linesensor->readline();
40 40

  
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        motor_l = -MOTOR_BASE + SCALE * line_loc;
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        motor_r = -MOTOR_BASE - SCALE * line_loc;
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        ROS_INFO("Line location: %lf.\n", line_loc);
42

  
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        motor_l = min(max((int) (-MOTOR_BASE + SCALE * line_loc), -128), 127);
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        motor_r = min(max((int) (-MOTOR_BASE - SCALE * line_loc), -128), 127);
43 45

  
44 46
        motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);
45 47
    }
scout/libscout/src/behaviors/line_follow.h
29 29
#include "../Behavior.h"
30 30
#include "../Sensors.h"
31 31

  
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#define MOTOR_BASE 50
33
#define SCALE 20
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#define MOTOR_BASE 60.0f
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#define SCALE 60.0f
34 34

  
35 35
class line_follow : public Behavior
36 36
{

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