testing

.vscode/settings.json

@@ -35,5 +35,6 @@
         "*.cpp": "cpp",
         "*.h": "c",
         "*.c": "c"
-    }
+    },
+    "task.allowAutomaticTasks": "on"
 }
\ No newline at end of file

src/main.c

@@ -156,14 +156,14 @@ void callback(uint gpio, uint32_t events)
         {
             distance = 0;
         }
-        if (distance > 40)
+        if (distance > 20)
         {
-            distance = 40;
+            distance = 20;
         }
 
-        distance = 40 - distance;
+        distance = 20 - distance;
 
-        volatile int percentage = (distance / 20) * 100;
+        volatile int percentage = (distance / 10) * 100;
 
         rollingperc[pos] = percentage;
         pos++;
@@ -175,23 +175,23 @@ void callback(uint gpio, uint32_t events)
         int avg = (rollingperc[0] + rollingperc[1] + rollingperc[2] + rollingperc[3]) / 4;
         // if zwischen 90, 110, stop
 
-        double speed = 0.9 * ((avg - 100) * (avg - 100)) + 1500; // quadratisch
+        double speed = 0.5 * ((avg - 100) * (avg - 100)) + 1000; // quadratisch
         speed = speed + 10 * ((1.8 * avg) - 180);
 
         // double speed = abs(70 * avg) + 2000; // linear
         // speed += 70;
 
         set_speed(speed);
-        if (avg > 90 && avg < 110)
+        if (avg == 100)
         {
             gpio_put(20, 0);
             gpio_put(21, 0);
         }
-        else if (avg < 90)
+        if (avg < 100)
         {
             motor_forward();
         }
-        else if (avg > 110)
+        else if (avg > 100)
         {
             motor_backward();
         }