mapping values

Projects Programming
13

i appreciate your advice, but here's the new code, but i'm unable to verify it (because I don't have my hardware here)
but i would like if someone could skim trough the code and see if i made some stupidity (because i haven't programmed in months and because i'm not quite sure if i made right float to int conversions)...
Thanks, xvjeko

//Written for atmega328-PU (16MHz external crystal)
//Compiled with arduino 1.0 (www.arduino.cc)

#include <Servo.h>

#define BAUD 9600       //UART baud rate
#define ECHOPINL 9      //Echo pin l = left
#define ECHOPINR 11     //Echo pin r = right
#define MINPULSE 600    //Minimum servo pulse
#define MAXPULSE 2400   //Maximum servo pulse
#define TRIGPINL 10     //Trig pin l
#define TRIGPINR 12     //Trig pin r

Servo servol;           //Creating servo object servol
Servo servor;           //Creating servo object servor

int holdtime = 15;
bool hold = false;
int vall, valr;
float perl, perr;
float prevperl = 0, prevperr = 0;

int left(int d0, int d1)
{
  int cm;
  long duration;
  float percentage;
  digitalWrite(TRIGPINL, LOW);
  delay(2);
  digitalWrite(TRIGPINL, HIGH);
  delay(5);
  digitalWrite(TRIGPINL, LOW);
  duration = pulseIn(ECHOPINL, HIGH); 
  cm = microsecondsToCentimeters(duration);
  percentage = map(cm, d0, d1, 0, 100);
  return( (float)percentage / 100);
}

int right(int d0, int d1)
{
  int cm;
  long duration;
  float percentage;
  digitalWrite(TRIGPINR, LOW);
  delay(2);
  digitalWrite(TRIGPINR, HIGH);
  delay(5);
  digitalWrite(TRIGPINR, LOW);
  duration = pulseIn(ECHOPINR, HIGH); 
  cm = microsecondsToCentimeters(duration);
  percentage = map(cm, 20, 6, 90, 180);
  return( (float)percentage / 100);
}

long microsecondsToCentimeters(long microseconds)
{
  return microseconds / 29 / 2;
}

void debugg()
{
  Serial.print(vall);
  Serial.print(" ");
  Serial.print(valr);
  Serial.println();
}

void setup() 
{
  Serial.begin(BAUD);

  pinMode(ECHOPINL, INPUT);
  pinMode(ECHOPINR, INPUT);
  pinMode(TRIGPINL, OUTPUT);
  pinMode(TRIGPINR, OUTPUT);
}

void loop() 
{
  perl = left(20, 6);
  perr = right(6, 20);

  if( (perl - prevperl) >= (5/100) )
  {
    perl = prevperl;
    hold=false;
  }

  if( (perr - prevperr) >= (5/100) )
  {
    perr = prevperr;
    hold=false;
  }

  vall = perl * 100;
  vall = (int)vall;
  valr = perr * 100;
  valr = (int)valr;

  vall = map(vall, 0, 100, 90, 180);
  valr = map(valr, 0, 180, 180, 90);

  servol.write(vall * perl);
  servor.write(valr * perl);
  if(hold==true) delay(holdtime);
  hold=true;
  debugg();
}