Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Diff: actuators.cpp

Revision:
83:8fa05f53fc73
Parent:
82:4cc8f9ad3fec
Child:
84:df770ec4df61
--- a/actuators.cpp	Tue Oct 20 14:30:54 2015 +0200
+++ b/actuators.cpp	Tue Oct 20 14:58:55 2015 +0200
@@ -135,17 +135,17 @@
 // write new values to motor's
     if (motor1SetSpeed > 0 ){ // CCW rotation 
         direction1 = false;
-        motor1PID.SetDirection(DIRECT); // increase in input > increase in output
+        motor1PID.SetOutputLimits(0,1);
     }else{
         direction1 = true; // CW rotation
-        motor1PID.SetDirection(REVERSE); // increase in input > decrease in output
+        motor1PID.SetOutputLimits(-1,0);
     }
     if (motor2SetSpeed > 0 ){ // CCW rotation 
         direction2 = false;
-        motor2PID.SetDirection(DIRECT);
+        motor2PID.SetOutputLimits(0,1);
     }else{
         direction2 = true; // CW rotation
-        motor2PID.SetDirection(REVERSE);
+        motor2PID.SetOutputLimits(-1,0);
     }
     motor1Dir.write(direction1);
     motor2Dir.write(direction2);