X-Git-Url: http://challenge-bot.com/repos/?p=challenge-bot;a=blobdiff_plain;f=build-stages%2Fi_chooser%2Fi_chooser.ino;h=c5011c497b932851f02d066dbd856b9e1a4ae205;hp=93d05fff2983d81f15cd1ec10e73cde57ef65bde;hb=c8a4b2d2117137083e9dc0be95187e58cd01ae1e;hpb=9e6034d504f0f4bc69e8bd432f9bbc514f44361a

diff --git a/build-stages/i_chooser/i_chooser.ino b/build-stages/i_chooser/i_chooser.ino
index 93d05ff..c5011c4 100644
--- a/build-stages/i_chooser/i_chooser.ino
+++ b/build-stages/i_chooser/i_chooser.ino
@@ -41,7 +41,7 @@ void set_motor(int speed_pin,
     speed = 255;}
   analogWrite(speed_pin, speed);}
 
-void go(int left_motor_speed, int right_motor_speed){
+void go(const int left_motor_speed, const int right_motor_speed){
   set_motor(left_motor_speed_pin,
             left_motor_forward_pin,
             left_motor_backward_pin,
@@ -198,18 +198,18 @@ void follow() {
   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);
+  unsigned int left_ping_time = ping(left_trigger_pin, left_echo_pin);
+  unsigned int right_ping_time = ping(right_trigger_pin, right_echo_pin);
 
-  left_speed = actual_left_ping_time - desired_left_ping_time;
-  right_speed = actual_right_ping_time - desired_right_ping_time;
+  left_speed = left_ping_time - desired_left_ping_time;
+  right_speed = right_ping_time - desired_right_ping_time;
 
   Serial.print(", left: ping = ");
-  Serial.print(actual_left_ping_time);
+  Serial.print(left_ping_time);
   Serial.print(" speed = ");
   Serial.print(left_speed);
   Serial.print(" right: ping = ");
-  Serial.print(actual_right_ping_time);
+  Serial.print(right_ping_time);
   Serial.print(" speed = ");
   Serial.print(right_speed);
 
@@ -256,7 +256,3 @@ void loop() {
   prior_button_state = button_state;
 
   Serial.println(); }
-
-void loop_asdf() {
-  go(250, 250);
-}