Diff: actuators.cpp

Revision:

81:71e7e98deb2c

Parent:

79:cf500b63f349

Child:

82:4cc8f9ad3fec

--- a/actuators.cpp	Tue Oct 20 13:39:05 2015 +0200
+++ b/actuators.cpp	Tue Oct 20 14:25:31 2015 +0200
@@ -135,13 +135,17 @@
 // write new values to motor's
     if (motor1SetSpeed >= 0 ){ // CCW rotation 
         direction1 = false;
+        motor1PID.SetDirection(DIRECT); // increase in input > increase in output
     }else{
         direction1 = true; // CW rotation
+        motor1PID.SetDirection(REVERSE); // increase in input > decrease in output
     }
     if (motor2SetSpeed >= 0 ){ // CCW rotation 
         direction2 = false;
+        motor2PID.SetDirection(DIRECT);
     }else{
         direction2 = true; // CW rotation
+        motor2PID.SetDirection(REVERSE);
     }
     motor1Dir.write(direction1);
     motor2Dir.write(direction2);
@@ -165,9 +169,16 @@
 void calibrateMotors(){
     // bool calibrating1 = true;
     // bool calibrating2 = true;
+    // float motorCalSpeed = 0.1; // %PWM
     // motor1Dir.write(false);
     // motor2Dir.write(false);
     // // move motors CCW until they reach outer most position
+    // // setmotorspeed contant
+    // // first move motor 1 using PID
+    // // wait until motor hits pin
+    // // switch direction
+    // // set motor speed1 0
+    // // repeat for motor 2
     // while (calibrating1 || calibrating2){
     //     if(motor1AnglePin == 0){
     //         motor1.write(0.3f);
@@ -192,7 +203,7 @@
 
 void safety(){
     if (safetyOn){
-        if (safetyIn.read() != 0){
+        if (safetyIn.read() != 1){
             motorsEnable = false;
         }
     }