From 6865306d9c2cc08e700d6c2047f8c8805adf766b Mon Sep 17 00:00:00 2001
From: Aditya Pulipaka <pulipaka24@outlook.com>
Date: Thu, 20 Nov 2025 15:22:53 -0600
Subject: [PATCH] Pre-test 1

---
 PseudoSensorControl/PseudoSensorControl.ino | 4 ++--
 lib/PseudoSensorControl.cpp                 | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/PseudoSensorControl/PseudoSensorControl.ino b/PseudoSensorControl/PseudoSensorControl.ino
index 50fd073..1d17bc0 100644
--- a/PseudoSensorControl/PseudoSensorControl.ino
+++ b/PseudoSensorControl/PseudoSensorControl.ino
@@ -4,8 +4,8 @@
 
 float refs[4] = {10.83,10.83,10.83,10.83};
 
-Constants repelling = {40, 0.01, 7};
-Constants attracting = {20, 0.01, 20};
+Constants repelling = {10000, 0, 50000};
+Constants attracting = {10000, 0, 50000};
 
 K_MAP consts = {repelling, attracting};
 
diff --git a/lib/PseudoSensorControl.cpp b/lib/PseudoSensorControl.cpp
index 3b68923..18f7f94 100644
--- a/lib/PseudoSensorControl.cpp
+++ b/lib/PseudoSensorControl.cpp
@@ -39,10 +39,10 @@ void PseudoSensorController::sendOutputs() {
 
 void PseudoSensorController::control() {
   float avg = (Left.mmVal + Right.mmVal + Front.mmVal + Back.mmVal) * 0.25f;
-  float pseudos[4] = {Front.mmVal + Left.mmVal - avg,
-                      Front.mmVal + Right.mmVal - avg,
-                      Back.mmVal + Left.mmVal - avg,
-                      Back.mmVal + Right.mmVal - avg};
+  float pseudos[4] = {Front.mmVal + Left.mmVal - avg, // FL
+                      Front.mmVal + Right.mmVal - avg, // FR
+                      Back.mmVal + Left.mmVal - avg, // BL
+                      Back.mmVal + Right.mmVal - avg}; // BR
 
   for (uint8_t i = 0; i < 4; i++) {
     float eCurr = Refs[i] - pseudos[i]; // Above reference is positive error.