Revert "Increase search speed"

This reverts commit 54b090f.

Author: Peque

src/control.c

@@ -9,14 +9,14 @@
  */
 static volatile float linear_acceleration = 5.;
 static volatile float linear_deceleration = 5.;
-static volatile float angular_acceleration = 64. * PI;
+static volatile float angular_acceleration = 32. * PI;
 
 static volatile float target_linear_speed;
 static volatile float target_angular_speed;
 static volatile float ideal_linear_speed;
 static volatile float ideal_angular_speed;
 
-static volatile float kp_linear = 800.;
+static volatile float kp_linear = 1600.;
 static volatile float kd_linear = 100.;
 static volatile float kp_angular = 60.;
 static volatile float kd_angular = 50.;

src/target/move.c

@@ -1,6 +1,6 @@
 #include "move.h"
 
-static volatile float max_linear_speed = .8;
+static volatile float max_linear_speed = .6;
 
 /* Assume the mouse tail is initially touching a wall */
 static float cell_shift = WALL_WIDTH / 2 + MOUSE_TAIL;
@@ -201,11 +201,11 @@ void turn_left(void)
 {
 	uint32_t starting_time = get_clock_ticks();
 
-	set_target_angular_speed(-8 * PI);
-	while (get_clock_ticks() - starting_time <= 88)
+	set_target_angular_speed(-4 * PI);
+	while (get_clock_ticks() - starting_time <= 125)
 		;
 	set_target_angular_speed(0);
-	while (get_clock_ticks() - starting_time <= 176)
+	while (get_clock_ticks() - starting_time <= 250)
 		;
 }
 
@@ -216,11 +216,11 @@ void turn_right(void)
 {
 	uint32_t starting_time = get_clock_ticks();
 
-	set_target_angular_speed(8 * PI);
-	while (get_clock_ticks() - starting_time <= 88)
+	set_target_angular_speed(4 * PI);
+	while (get_clock_ticks() - starting_time <= 125)
 		;
 	set_target_angular_speed(0);
-	while (get_clock_ticks() - starting_time <= 176)
+	while (get_clock_ticks() - starting_time <= 250)
 		;
 }
 
@@ -257,11 +257,11 @@ void move_front(void)
 void move_left(void)
 {
 	enable_walls_control();
-	decelerate(current_cell_start_micrometers, 0.02, 0.666);
+	decelerate(current_cell_start_micrometers, 0.03, 0.404);
 	disable_walls_control();
 	turn_left();
 	enable_walls_control();
-	accelerate(get_encoder_average_micrometers(), 0.02);
+	accelerate(get_encoder_average_micrometers(), 0.03);
 	entered_next_cell();
 }
 
@@ -271,11 +271,11 @@ void move_left(void)
 void move_right(void)
 {
 	enable_walls_control();
-	decelerate(current_cell_start_micrometers, 0.02, 0.666);
+	decelerate(current_cell_start_micrometers, 0.03, 0.404);
 	disable_walls_control();
 	turn_right();
 	enable_walls_control();
-	accelerate(get_encoder_average_micrometers(), 0.02);
+	accelerate(get_encoder_average_micrometers(), 0.03);
 	entered_next_cell();
 }