DECS @UNIST / Mbed 2 deprecated Anybaro_ver_7

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Dependencies:   mbed

Diff: MotorControl.cpp

Revision:
13:5601fedf0e12
Parent:
11:5f05b14649ee
Child:
14:d059d99e9b5e
--- a/MotorControl.cpp	Tue Jul 02 21:57:47 2019 +0000
+++ b/MotorControl.cpp	Wed Jul 03 08:32:41 2019 +0000
@@ -27,6 +27,9 @@
 extern float parB;
 extern float parC;
 
+extern                      bool nFaultFlag;
+
+
 void MotorButton()
 {
         mkOn=0;
@@ -193,14 +196,19 @@
     s = (curTarget-d2)/targetDis;
     abs_error = abs(curTarget-d2);
     
-    bt.printf("%dth: %1.4f\r\n",onewayNum,s);      
+    bt.printf("%dth: %1.4f\r\n",onewayNum,s);
+    if(!nFaultFlag)
+    {
+        enable = 0;
+        nreset = 0;
+        p1=0;
+        p2=0;
+    }
     if(s>=0)
     {
         enable = 1;
         nreset = 1;
             p1 = 0;
-//            p2 = 0; //(s>0.7f)?s:0.7f;
-//            wait(0.01);
             p2 = 1;
     }
     
@@ -208,9 +216,7 @@
     {
         enable = 1;
         nreset = 1;
-//            p1 = 0; //(s<-0.7f)?(-1*s):0.7f;
             p2 = 0;
-//            wait(0.01);
             p1 = 1;
     }