Diff: buggy_functions.cpp

Revision:

1:9f6d495cda75

Parent:

0:23373ebd6d3a

Child:

2:10c115fb71e2

--- a/buggy_functions.cpp	Thu Apr 21 08:59:08 2016 +0000
+++ b/buggy_functions.cpp	Thu Apr 21 13:54:07 2016 +0000
@@ -18,7 +18,10 @@
 PwmOut Lmotor(LeftMotorPin);
 PwmOut Rmotor(RightMotorPin);
 
-//Lmotor = Rmotor = 0;
+//Trim is an offset that you can adjust to help the buggy drive straight
+//Trim = -0.3 is a left trim
+//Trim =  0.3 is a right trim
+float trim = 0.3;
 
 //DigitalIn is used as a button
 DigitalIn CurrentButtonState(p7);
@@ -43,7 +46,8 @@
 
 extern void forward(float time) //moves forward for (time) seconds
 {
-    Lmotor = Rmotor = 1.0; //set the left and right motor to 1.0 (full speed)
+    Lmotor = 1.0 + trim;
+    Rmotor = 1.0 - trim; //set the left and right motor to 1.0 (full speed) - the trim offset
     hold(time); //wait for (time) seconds while the motors are on
     stop(); //stops the motors
 }