Fixed the line following code.
Now works with new units
Fixed a bug with reading the line location, correctly centering the line between -3.5 and 3.5 rather than -4 and 3.
Also fixed a bug caused by overflow in absolute speeds sent to motor control, which fixed bouncing in line following.
double ret_val = last_ret = ((double) weighted_total / total_read) - 4;
double ret_val = last_ret = ((double) weighted_total / total_read) - 3.5;
Also available in: Unified diff