Diff: main.cpp

Revision:

9:42ded201dcdd

Parent:

8:3eb4fcab8ede

Child:

10:ea96b4c09854

--- a/main.cpp	Mon Aug 05 21:06:44 2019 +0000
+++ b/main.cpp	Mon Aug 05 22:23:17 2019 +0000
@@ -126,7 +126,7 @@
     //printMsg(busCurrent);
     if(can1.write(driverControls))
     {
-        debug1 = !debug1;
+        //debug1 = !debug1;
     }
     else
     {
@@ -134,14 +134,15 @@
         flash(3);
     }
     
-    //if(can1.write(busCurrent))
-    //{
-    //    debug2 = !debug2;
-    //}
-    //else
-    //{
+    if(can1.write(busCurrent))
+    {
+        //debug2 = !debug2;
+    }
+    else
+    {
         //wait(0.5);
-    //}
+        flash(4);
+    }
 }
 
 int main()
@@ -184,8 +185,8 @@
     
     while(1) {
         
-        //curr_val = 0.0;
-        //speed_val = 0.0;
+        //curr_val = 0.2;
+        //speed_val = 5.0;
         curr_reading = currentPot.read();
         speed_reading = speedPot.read();
         speed_reading_ms = speed_reading * 30;
@@ -225,7 +226,7 @@
             }
             else
             {
-                if (!rev)
+                if (rev)
                 {
                     speed_val = (-1)*speed_reading_ms;
                 }
@@ -242,7 +243,8 @@
                 {
                     curr_val = 0;
                 }
-            }
+             }
+            
         }
         //pc.printf("speed_val: %f\r\n", speed_val);
         //pc.printf("curr_val: %f\r\n\r\n", curr_val);