Modified pilotROute

Lesson10/Programs/PilotRoute/src/PilotRoute.java

@@ -6,12 +6,13 @@ public class PilotRoute
 {
     private SlaveIOStreams PC;
     
-	private double wheelDiameter = 5.5, trackWidth = 16.0;
+    private double distFactor = 0.99;
+	private double wheelDiameterL = 5.595*distFactor, wheelDiameterR = 5.6*distFactor, trackWidth = 16.27;
 	private double travelSpeed = 5, rotateSpeed = 45;
 	private NXTRegulatedMotor left = Motor.B;
 	private NXTRegulatedMotor right = Motor.C;
 	   
-	private DifferentialPilot pilot = new DifferentialPilot(wheelDiameter, trackWidth, left, right);
+	private DifferentialPilot pilot = new DifferentialPilot(wheelDiameterL,wheelDiameterR,trackWidth, left, right,false);
 
 	public PilotRoute(boolean usb) 
 	{
@@ -48,8 +49,8 @@ public class PilotRoute
 		Sound.twoBeeps();
 		
 		travel(50);
-		rotate(90);	
-		travel(20);
+		rotate(-90);	
+		travel(50);
 		rotate(-90);
 		travel(50);