From 96a81eb2d192399b44945c9cd5882693661088d0 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Fri, 12 Dec 2025 16:51:44 -0500
Subject: [PATCH] final tweaks

ran perfectly with 9 cubes attempt 1
---
 robot_controller/constants.h          | 2 +-
 robot_controller/robot_controller.ino | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/robot_controller/constants.h b/robot_controller/constants.h
index 042f664..76ef974 100644
--- a/robot_controller/constants.h
+++ b/robot_controller/constants.h
@@ -12,7 +12,7 @@ const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);
 const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;
 
 const float FORWARD_DISTANCE = 100.0; // cm
-const float TURN_AMOUNT = 200.0; // degrees
+const float TURN_AMOUNT = 190.0; // degrees
 const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
 
 const float KP = 1.50; // proportional
diff --git a/robot_controller/robot_controller.ino b/robot_controller/robot_controller.ino
index 446fa25..a19bd32 100644
--- a/robot_controller/robot_controller.ino
+++ b/robot_controller/robot_controller.ino
@@ -166,7 +166,7 @@ void loop() {
   Serial.println("");
 
   // move on if at setpoint TODO: give up after timeout
-  if (setpoint.complete && (total_pos_error < 3.0 || time - end_time > 7.0)) {
+  if (setpoint.complete && (total_pos_error < 3.0 || time - end_time > 5.0)) {
     // rehome
     right_home += (setpoint.position / DEG_CM);
     left_home += (turnsig * setpoint.position / DEG_CM);