more comments and config

johnpmayer · Dec 19, 2011 · b13d7b3 · b13d7b3
1 parent c8ac5ed
commit b13d7b3
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/prod/config.h b/prod/config.h
@@ -8,7 +8,7 @@
 #define D_THRESH 175
 #define R_THRESH .22
 #define R_COUNT_THRESH 80
-#define HSV_CNT_THRESH_CLOSE 400
+#define HSV_CNT_THRESH_CLOSE 250
 #define HSV_CNT_THRESH_FAR 100
 #define MODE_SEEK 0
 #define MODE_UTURN 1
@@ -17,4 +17,4 @@
 #define UTURN_THRESH 0.1
 #define Y_AVOID_S 150
 #define Y_AVOID_L 350
-#define RED_RATIO_THRESH .5
+#define RED_RATIO_THRESH .6
diff --git a/prod/main.c b/prod/main.c
@@ -26,12 +26,12 @@ double normalize_angle(double in)
 
   while(out > PI) {
     out -= 2*PI;
-    printf("normalized posT down\n");
+    //printf("normalized posT down\n");
   }
 
   while(out <= -PI) {
     out += 2*PI;
-    printf("normalized posT up\n");
+    //printf("normalized posT up\n");
   }
 
   return out;
@@ -110,7 +110,7 @@ void exc_one(Roomba* _roomba, char command)
 void orientToAngle(Roomba* roomba, double targetAngle)
 {
 
-  printf("turning to desired angle %f\n", targetAngle);
+  //printf("turning to desired angle %f\n", targetAngle);
 
   double diff = angle_diff(targetAngle, posT);
   double abs_diff = (diff < 0) ? -diff : diff;
@@ -142,7 +142,7 @@ void orientToAngle(Roomba* roomba, double targetAngle)
 
     }
 
-  printf("finished turning\n");
+  //printf("finished turning\n");
 
 }