Fix: increase constant speed and max duration of follower.

Author: Wilbert Alberts

Raspberry/eclipse/Follower/src/actuator.cpp

@@ -40,8 +40,8 @@ void Actuators::setRight(double v)
 
 int Actuators::process()
 {
-    pwmL = 25 + left*50;
-    pwmR = 25 + right*50;
+    pwmL = 25 + left*75;
+    pwmR = 25 + right*75;
 
     int ipwmL = abs(round(pwmL));
     int ipwmR = abs(round(pwmR));

Raspberry/eclipse/Follower/src/main.cpp

@@ -19,7 +19,7 @@
 
 #define COLLISIONSENS (130)
 #define FREQUENCY     (100)
-#define MAXDURATION   (10)
+#define MAXDURATION   (130)
 
 int mustStop();
 
@@ -33,7 +33,7 @@ int main(int argc, char** argv)
 
 	Sensors sensors;
 	Actuators actuators;
-	Controller controller(FREQUENCY, 1.2, 0.2, -0.1 , sensors, actuators);
+	Controller controller(FREQUENCY, 2.5, 0, 0.2 , sensors, actuators);
 
 
     RV_start();
@@ -46,7 +46,7 @@ int main(int argc, char** argv)
 	{
 		sensors.process();
 		controller.process();
-		actuators.process();
+		//actuators.process();
 
 		if (mustStop())
 			break;