X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=build-stages%2Fh_stay_on_table%2Fh_stay_on_table.ino;h=e2838f5536af086fecbe2dea168cc0b68983c4e2;hb=661ac21e0bd2e7a48c7bed6332e948873f4a2b23;hp=07f7d17230591bea8820e73851b23957ac8f1512;hpb=1b159f3b72bdc0587dba8475134ecb517483d81b;p=challenge-bot

diff --git a/build-stages/h_stay_on_table/h_stay_on_table.ino b/build-stages/h_stay_on_table/h_stay_on_table.ino
index 07f7d17..e2838f5 100644
--- a/build-stages/h_stay_on_table/h_stay_on_table.ino
+++ b/build-stages/h_stay_on_table/h_stay_on_table.ino
@@ -14,18 +14,28 @@
  */
 
 // define which pins are connected to which components
-int right_motor_speed_pin = 3;
-int right_motor_forward_pin = 4;
-int right_motor_backward_pin = 5;
-
+// blue wire
+int right_motor_forward_pin = 3;
+// orange wire
+int right_motor_backward_pin = 4;
+// white wire
+int right_motor_speed_pin = 5;
+
+// yellow wire
 int right_echo_pin = 6;
+// blue wire
 int right_trigger_pin = 7;
 
-int left_motor_speed_pin = 8;
-int left_motor_forward_pin = 9;
-int left_motor_backward_pin = 10;
+// blue wire
+int left_motor_forward_pin = 8;
+// orange wire
+int left_motor_backward_pin = 9;
+// white wire
+int left_motor_speed_pin = 10;
 
+// yellow wire
 int left_echo_pin = 11;
+// blue wire
 int left_trigger_pin = 12;
 
 void on(int pin){
@@ -48,6 +58,7 @@ void set_motor(int speed_pin,
   else{ // speed is 0
     off(forward_pin);
     off(backward_pin);}
+  // since speed has been set positive, no need to check if speed < -255.
   if(speed > 255){
     speed = 255;}
   analogWrite(speed_pin, speed);}
@@ -124,13 +135,13 @@ void loop(){
 
   // adjust this number as necessary for your robot.
   // it represents how far the table is from your sonar sensor.
-  // larger values mean larger distance.  default is 400
-  int right_max_ping_time_over_table = 500;
-  int left_max_ping_time_over_table = 500;
+  // larger values mean larger distance.  default is 800
+  int right_max_ping_time_over_table = 800;
+  int left_max_ping_time_over_table = 800;
   int backup_time = 2000;
   // the exact amount of time for turning around might need
   // twerking for your robot.  the default value is 3200
-  int turn_around_time = 2133;
+  int turn_around_time = 3200;
 
   int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin);
   int actual_right_ping_time = ping(right_trigger_pin, right_echo_pin);