X-Git-Url: http://challenge-bot.com/repos/?p=challenge-bot;a=blobdiff_plain;f=build-stages%2Fg_follow%2Fg_follow.ino;h=6588dd6ef19702fa0b22ae04d0f4fa0a5841a5fb;hp=54c7967200fb0fde1a09ffe133f09bdbe5fb8b79;hb=b567d5d5509070435e1ebba0412b5afc25956119;hpb=5218c75f607a885a644121a5f416ea07712037f6

diff --git a/build-stages/g_follow/g_follow.ino b/build-stages/g_follow/g_follow.ino
index 54c7967..6588dd6 100644
--- a/build-stages/g_follow/g_follow.ino
+++ b/build-stages/g_follow/g_follow.ino
@@ -14,24 +14,20 @@
  */
 
 // 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;
+int right_motor_forward_pin = 3;
+int right_motor_backward_pin = 4;
+int right_motor_speed_pin = 5;
 
 int right_echo_pin = 6;
 int right_trigger_pin = 7;
 
-int left_motor_speed_pin = 8;
-int left_motor_forward_pin = 9;
-int left_motor_backward_pin = 10;
+int left_motor_forward_pin = 8;
+int left_motor_backward_pin = 9;
+int left_motor_speed_pin = 10;
 
 int left_echo_pin = 11;
 int left_trigger_pin = 12;
 
-// you'll need to adjust these based on your sonar sensor's behavior
-int desired_right_ping_time = 800;
-int desired_left_ping_time = 800;
-
 void on(int pin){
   digitalWrite(pin, HIGH);}
 
@@ -85,14 +81,6 @@ int ping(int trigger, int echo){
   delay(50);
   return ping_time;}
 
-void backup(int backup_time){
-  go(-250, -250);
-  delay(backup_time);}
-
-void turn_around(int turn_around_time){
-  go(-250, 250);
-  delay(turn_around_time);}
-
 void setup(){
   Serial.begin(9600);
 
@@ -118,14 +106,15 @@ void setup(){
   off(right_motor_speed_pin);
   off(right_motor_forward_pin);
   off(right_motor_backward_pin);
-  off(right_trigger_pin);}
+  off(right_trigger_pin); }
 
-void loop(){
+void loop() {
   int left_speed;
   int right_speed;
 
-  int forward_speed = 250;
-  int stop_speed = 0;
+  // you'll need to adjust these based on your sonar sensor's behavior
+  int desired_right_ping_time = 800;
+  int desired_left_ping_time = 800;
 
   unsigned int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin);
   unsigned int actual_right_ping_time = ping(right_trigger_pin, right_echo_pin);
@@ -140,6 +129,7 @@ void loop(){
   Serial.print(" right: ping = ");
   Serial.print(actual_right_ping_time);
   Serial.print(" speed = ");
-  Serial.println(right_speed);
+  Serial.print(right_speed);
+  Serial.println();
 
-  go(left_speed, right_speed);}
+  go(left_speed, right_speed); }