AUTOOOO!!!

.vscode/launch.json

@@ -9,7 +9,7 @@
             "cwd": "${workspaceFolder}",
             "MIMode": "gdb",
             "miDebuggerPath": "gdb-multiarch",
-            "miDebuggerServerAddress": "localhost:3333",
+            "miDebuggerServerAddress": "10.42.0.1:3333",
             "preLaunchTask": "build",
             "internalConsoleOptions": "neverOpen",
             "postRemoteConnectCommands": [

src/main.c

@@ -3,6 +3,7 @@
 #include <stdio.h>
 #include <unistd.h>
 #include <hardware/pwm.h>
+#include <math.h>
 
 double rollingperc[4] = {0, 0, 0, 0};
 int pos = 0;
@@ -155,14 +156,14 @@ void callback(uint gpio, uint32_t events)
         {
             distance = 0;
         }
-        if (distance > 20)
+        if (distance > 40)
         {
-            distance = 20;
+            distance = 40;
         }
 
-        distance = 20 - distance;
+        distance = 40 - distance;
 
-        volatile int percentage = (distance / 10) * 100;
+        volatile int percentage = (distance / 20) * 100;
 
         rollingperc[pos] = percentage;
         pos++;
@@ -173,8 +174,13 @@ 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)) + 2000;
-        speed = speed + ((1.8 * avg) - 180);
+
+        double speed = 0.9 * ((avg - 100) * (avg - 100)) + 1500; // 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)
         {