Diff: main.cpp

Revision:

18:ea605c49afee

Parent:

10:7339dca7d604

Child:

19:e1e18746d98d

--- a/main.cpp	Tue Oct 23 08:44:17 2018 +0000
+++ b/main.cpp	Fri Oct 26 10:54:16 2018 +0000
@@ -55,9 +55,9 @@
 
 void output_all() {
     motor1_pwm = fabs(u1);
-    motor1_dir = u1 > 0.5f;
+    motor1_dir = u1 > 0.0f;
     motor2_pwm = fabs(u2);
-    motor2_dir = u2 > 0.5f;
+    motor2_dir = u2 > 0.0f;
     static int output_counter = 0;
     output_counter++;
     if (output_counter == 100) {pc.printf("Something something... %f",u1); output_counter = 0;}  //Print to screen at 10 Hz with MODSERIAL
@@ -79,7 +79,7 @@
                 state_timer.start();
                 state_changed = false;
             }
-            u1 = 0.6f; //a low PWM value to move the motors slowly (0.0 to 0.45 don’t do much due to friction)
+            u1 = 0.55f; //a low PWM value to move the motors slowly (0.0 to 0.45 don’t do much due to friction)
             // fabs(motor1.velocity()) < 0.1f && 
             if (state_timer.read() > 5.0f) {
                 current_state = calib_emg; //the NEXT loop we will be in calib_emg state