Amaldi / Mbed 2 deprecated Amaldi_MicRobot-Rev082

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Dependencies:   mbed

Diff: MicRobot-Rev07_FUNZIONA.cpp

Revision:
13:3524908da81c
Parent:
12:8366ed73becb
diff -r 8366ed73becb -r 3524908da81c MicRobot-Rev07_FUNZIONA.cpp
--- a/MicRobot-Rev07_FUNZIONA.cpp	Fri Feb 21 16:14:03 2020 +0000
+++ b/MicRobot-Rev07_FUNZIONA.cpp	Sat Feb 22 11:30:13 2020 +0000
@@ -461,6 +461,14 @@
     while(true)
     {
         //++++++++++++++++++++++++++ INIZIO Interpreta Comandi da Pulsanti della APP ++++++++++++++++++++++++++++++++++++++++++++
+        if (nCountRiseEdge != nOldCountRiseEdge)     //la coda non si muove se il Joystick è nella posizione (0,0) 
+              {
+                MotoreCoda.write (0.4) ;
+              }
+            else
+              {
+                MotoreCoda.write (0.0) ;
+              }      
         if((cCommandBLE != cOldCommandBLE) || (nParamBLE != nOldParamBLE))
         {
             switch (cCommandBLE)
@@ -566,6 +574,8 @@
                 }
             }
             AntOutPWB.write(float(fL/100.0)); // DutyCycle del PWM Sinistro (Anteriore)
+             
+                
         }
        
         //++++++++++++++++++++++ FINE Ottieni X e Y dal Joystick e trasformali in comandi per il motore Right e Left +++++++++++++++++++++++++++++