Diff: wheelchair.cpp

Revision:

10:e5463c11e0a0

Parent:

8:381a4ec3fef8

Child:

11:d14a1f7f1297

--- a/wheelchair.cpp	Sun Jul 22 18:47:04 2018 +0000
+++ b/wheelchair.cpp	Mon Jul 23 20:17:37 2018 +0000
@@ -1,4 +1,5 @@
 #include "wheelchair.h"
+bool manual_drive = false;
 
 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time )
 {
@@ -80,14 +81,15 @@
             return;
         }
         curr = imu->yaw();
-        //out->printf("curr %f \n", curr);
+        
         
         if(overturn && curr >= 0 && curr <= start ) {
-            curr = 360;
+            curr = 361;
         }
     }
 
     out->printf("done turning\n");
+    Wheelchair::stop();
 
 }
 
@@ -118,9 +120,10 @@
         if(overturn && curr > (360 - 90) ) {
             curr = 0;
         }
-        out->printf("curr %f \n", curr);
     }
 
     out->printf("done turning\n");
+    Wheelchair::stop();
 }
 
+