From 6aa404465ed495e6a55f805007df5ea0ba518702 Mon Sep 17 00:00:00 2001
From: u-siri-ous <sanninosiria@gmail.com>
Date: Mon, 17 Feb 2020 18:52:54 +0100
Subject: [PATCH] ema taking over

---
 include/positionsys_zone.h | 2 +-
 include/vars.h             | 2 +-
 src/main.cpp               | 3 +++
 src/positionsys_zone.cpp   | 4 ++--
 4 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/include/positionsys_zone.h b/include/positionsys_zone.h
index c7e1c3e..1dc99f0 100644
--- a/include/positionsys_zone.h
+++ b/include/positionsys_zone.h
@@ -56,7 +56,7 @@
 #define SOUTH_EAST 9
 
 #define CAMERA_CENTER_X 3
-#define CAMERA_CENTER_Y 1
+#define CAMERA_CENTER_Y 10
 
 class PositionSysZone : public PositionSystem{
     public:
diff --git a/include/vars.h b/include/vars.h
index 560cb30..e8fec13 100755
--- a/include/vars.h
+++ b/include/vars.h
@@ -1,5 +1,5 @@
 #pragma once
-#define DEBUG Serial3
+#define DEBUG Serial
 
 #define LED_R 20
 #define LED_Y 17
diff --git a/src/main.cpp b/src/main.cpp
index 0a39d4d..88fb1e9 100755
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -23,6 +23,9 @@ void loop() {
   goalie->play(role==1);
   keeper->play(role==0);  
 
+  camera->test();
+
+
   // Last thing to do: movement and update status vector
 
   drive->drivePrepared();  
diff --git a/src/positionsys_zone.cpp b/src/positionsys_zone.cpp
index 0ab9559..84c0baf 100644
--- a/src/positionsys_zone.cpp
+++ b/src/positionsys_zone.cpp
@@ -373,8 +373,8 @@ void PositionSysZone::testLogicZone(){
 
 
 void PositionSysZone::goCenter() {
-  if((camera->true_yb + camera->true_yy) >= -CAMERA_CENTER_Y) drive->prepareDrive(180, 75, 0);
-  else if ((camera->true_yb + camera->true_yy) <= CAMERA_CENTER_Y) drive->prepareDrive(0, 75, 0); 
+  if((camera->true_yb + camera->true_yy) >= 0) drive->prepareDrive(180, 75, 0);
+  else if ((camera->true_yb + camera->true_yy) <= -CAMERA_CENTER_Y) drive->prepareDrive(0, 75, 0); 
   else drive->prepareDrive(0, 0, 0);
 /*   if(camera->true_xb < -CAMERA_CENTER_X || camera->true_xy < -CAMERA_CENTER_X) drive->prepareDrive(90, 75, 0);
   else if(camera->true_xb > CAMERA_CENTER_X || camera->true_xy > CAMERA_CENTER_X) drive->prepareDrive(270, 75, 0);