DECS @UNIST / Mbed 2 deprecated Anybaro_ver_7

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Dependencies:   mbed

Diff: MotorControl.cpp

Revision:
11:5f05b14649ee
Parent:
10:3fcaf50f528f
Child:
13:5601fedf0e12
diff -r 3fcaf50f528f -r 5f05b14649ee MotorControl.cpp
--- a/MotorControl.cpp	Tue Jul 02 04:44:35 2019 +0000
+++ b/MotorControl.cpp	Tue Jul 02 21:34:50 2019 +0000
@@ -139,7 +139,7 @@
 
 void ControlAng()
 {
-        
+        bt.putc('1');
         float d1 = disSensor.read();
         float d2 = parA*d1*d1+parB*d1+parC;
         float ref_d = targetDis-d2;
@@ -179,7 +179,8 @@
 
 void MkAction()
 {
-    
+//    bt.putc('3');
+
     float d1 = disSensor.read();
     float d2 = parA*d1*d1+parB*d1+parC;
     
@@ -192,14 +193,14 @@
     s = (curTarget-d2)/targetDis;
     abs_error = abs(curTarget-d2);
     
-      
+    bt.printf("%dth: %1.4f\r\n",onewayNum,s);      
     if(s>=0)
     {
         enable = 1;
         nreset = 1;
             p1 = 0;
-            p2 = 0; //(s>0.7f)?s:0.7f;
-            wait(0.01);
+//            p2 = 0; //(s>0.7f)?s:0.7f;
+//            wait(0.01);
             p2 = 1;
     }
     
@@ -207,9 +208,9 @@
     {
         enable = 1;
         nreset = 1;
-            p1 = 0; //(s<-0.7f)?(-1*s):0.7f;
+//            p1 = 0; //(s<-0.7f)?(-1*s):0.7f;
             p2 = 0;
-            wait(0.01);
+//            wait(0.01);
             p1 = 1;
     }