Pushed new partyfinder

lesson3/PartyFinder/src/PartyFinder.java

@@ -3,13 +3,13 @@ public class PartyFinder {
 	static final double turnDegree = 0.08797653958;
 
 	static final long sampleInterval = 25;
-	
+
 	static MotorPort leftMotor  = MotorPort.C;
 	static MotorPort rightMotor = MotorPort.B;
-	
+
 	static ADSensorPort soundSensorLeft = SensorPort.S2;
 	static ADSensorPort soundSensorRight = SensorPort.S3;
-	
+
 	static int leftValue;
 	static int rightValue;
 	static int diff;
@@ -23,38 +23,35 @@ public class PartyFinder {
 			leftValue = soundSensorLeft.readRawValue();
 			rightValue = soundSensorRight.readRawValue();
 
-			if(leftValue < 940 && rightValue < 940) {
-				diff = leftValue - rightValue;
+			diff = leftValue - rightValue;
 
-				if(diff < 0) {
-					// Party is to right
-					right(75);
-				} 
-				else if(diff > 0) {
-					// Party is to left
-					left(75);
-				}
-				else {
-					// Party is straight ahead ( or behind you :( )
-					forward(75);
-				}
-			} else {
-				stop();
+			if(diff < 0) {
+				// Party is to right
+				right(70);
+			} 
+			else if(diff > 0) {
+				// Party is to left
+				left(70);
+			}
+			else {
+				// Party is straight ahead ( or behind you :( )
+				forward(70);
 			}
+
 			// Debug info
 			LCD.drawInt(leftValue,4,0,1);
 			LCD.drawInt(rightValue,4,0,2);
 			LCD.drawInt(diff,4,0,3);
-			
+
 			Thread.sleep(sampleInterval);
 		}
 	}
-	
+
 	public static void stop() {
 		leftMotor.controlMotor(0, MotorPort.STOP);
 		rightMotor.controlMotor(0, MotorPort.STOP);
 	}
-	
+
 	public static void forward( int power)
 	{	
 		leftMotor.controlMotor(power, MotorPort.FORWARD);
@@ -63,11 +60,11 @@ public class PartyFinder {
 	public static void left( int power)
 	{	
 		leftMotor.controlMotor(power, MotorPort.FORWARD);
-		rightMotor.controlMotor(power / 4, MotorPort.FORWARD);	
+		rightMotor.controlMotor(power / 3, MotorPort.FORWARD);	
 	}
 	public static void right( int power)
 	{	
-		leftMotor.controlMotor(power / 4, MotorPort.FORWARD);
+		leftMotor.controlMotor(power / 3, MotorPort.FORWARD);
 		rightMotor.controlMotor(power, MotorPort.FORWARD);	
 	}
 }