shorten turnaround and raise sonars above table

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 73f9e9b61ccaf1b3d0e76df1b319e6efdbbba46a..07f7d17230591bea8820e73851b23957ac8f1512 100644 (file)
--- a/build-stages/h_stay_on_table/h_stay_on_table.ino
+++ b/build-stages/h_stay_on_table/h_stay_on_table.ino
@@ -14,19 +14,19 @@
  */
 
 // define which pins are connected to which components
-int right_motor_speed_pin = 3; // orange wire
-int right_motor_forward_pin = 4; // brown
-int right_motor_backward_pin = 5; // purple
+int right_motor_speed_pin = 3;
+int right_motor_forward_pin = 4;
+int right_motor_backward_pin = 5;
 
-int right_echo_pin = 6; // white
-int right_trigger_pin = 7; // blue
+int right_echo_pin = 6;
+int right_trigger_pin = 7;
 
-int left_motor_speed_pin = 8; // orange
-int left_motor_forward_pin = 9; // brown
-int left_motor_backward_pin = 10; // purple
+int left_motor_speed_pin = 8;
+int left_motor_forward_pin = 9;
+int left_motor_backward_pin = 10;
 
-int left_echo_pin = 11; // white
-int left_trigger_pin = 12; // blue
+int left_echo_pin = 11;
+int left_trigger_pin = 12;
 
 void on(int pin){
   digitalWrite(pin, HIGH);}
@@ -125,12 +125,12 @@ 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 = 400;
-  int left_max_ping_time_over_table = 400;
+  int right_max_ping_time_over_table = 500;
+  int left_max_ping_time_over_table = 500;
   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 = 3200;
+  int turn_around_time = 2133;
 
   int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin);
   int actual_right_ping_time = ping(right_trigger_pin, right_echo_pin);