From 4389bbfeae982a186b112a33a0e3b434208a34b9 Mon Sep 17 00:00:00 2001
From: Serge <harjaus@coventry.ac.uk>
Date: Wed, 19 Jun 2019 11:00:57 +0100
Subject: [PATCH] Working cone detection with CANbus. It's awesome.

---
 zedMain.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/zedMain.py b/zedMain.py
index 59162bd..e41645c 100644
--- a/zedMain.py
+++ b/zedMain.py
@@ -19,9 +19,9 @@
 global startFrom
 startFrom = 270
 global steeringFactor
-steeringFactor = 30
+steeringFactor = 10
 global carVelocity
-carVelocity = 60
+carVelocity = 70
 
 
 
@@ -38,6 +38,8 @@ def issueCommands(steering, velocity, exit, lastCommandTime=0.025):
 
 	if exit: #can exit protocol
 		print("Initiating CAN exit.")
+		issueCommands.car.set_steering_velocity(0,0)
+		time.sleep(0.5)
 		issueCommands.car.exitCAN() #runs until we exit gracefully
 
 def calculateCenter(target):
@@ -45,7 +47,7 @@ def calculateCenter(target):
 	newCom = target - int(width/2) #offset from center of image
 
 	if newCom != -int(width/2): #when we have a correct reading
-		final =  calculateCenter.pastCom + (newCom-calculateCenter.pastCom) / 2
+		final =  calculateCenter.pastCom + (newCom-calculateCenter.pastCom) / 20
 		calculateCenter.pastCom = final
 
 		return round(final)