[tuxdroid-svn] r4755 - firmware/tuxcore/branches/demo

[ks156 <c2m...@c2...>]

Author: ks156
Date: 2009-06-08 17:00:09 +0200 (Mon, 08 Jun 2009)
New Revision: 4755

Modified:
   firmware/tuxcore/branches/demo/global.h
   firmware/tuxcore/branches/demo/motors.c
Log:
* Adapted the compensation variables and reduce the scale factor


Modified: firmware/tuxcore/branches/demo/global.h
===================================================================
--- firmware/tuxcore/branches/demo/global.h	2009-06-08 14:11:20 UTC (rev 4754)
+++ firmware/tuxcore/branches/demo/global.h	2009-06-08 15:00:09 UTC (rev 4755)
@@ -32,8 +32,8 @@
 #include "common/api.h"
 
 #ifdef DEMO
-#define LEFT_COMP_CONT 8
-#define RIGHT_COMP_CONT -7
+#define LEFT_COMP_CONT 15
+#define RIGHT_COMP_CONT -11
 #define LEFT_COMP LEFT_COMP_CONT
 #define RIGHT_COMP RIGHT_COMP_CONT
 #endif

Modified: firmware/tuxcore/branches/demo/motors.c
===================================================================
--- firmware/tuxcore/branches/demo/motors.c	2009-06-08 14:11:20 UTC (rev 4754)
+++ firmware/tuxcore/branches/demo/motors.c	2009-06-08 15:00:09 UTC (rev 4755)
@@ -266,7 +266,7 @@
         if (motor == MOT_SPIN_L)
         {
 #ifdef DEMO
-            spin_stop_delay = (value * 40);
+            spin_stop_delay = (value * 35);
             spin_left(value, 2);
 #else
             spin_left(value, spin_params_pwm);
@@ -275,7 +275,7 @@
         else
         {
 #ifdef DEMO
-            spin_stop_delay = (value * 40);
+            spin_stop_delay = (value * 35);
             spin_right(value, 2);
 #else
             spin_right(value, spin_params_pwm);