Diff: actuators.cpp

Revision:

34:f315b2b38555

Parent:

32:2006977785f5

Child:

44:a947bc232d84

--- a/actuators.cpp	Wed Oct 07 18:56:52 2015 +0000
+++ b/actuators.cpp	Wed Oct 07 19:04:09 2015 +0000
@@ -4,9 +4,9 @@
 #include "config.h"
 #include "encoder.h"
 #include "HIDScope.h"
-#include "servo.h"
+#include "Servo.h"
     // functions for controlling the motors
-    bool motorEnable = true;
+    bool motorsEnable = false;
 
     bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
     bool direction2 = false;
@@ -58,7 +58,7 @@
     PID PIDmotor1(Kp1, Ki1, Kd1, PIDinterval);
     PID PIDmotor2(Kp2, Ki2, Kd2, PIDinterval);
 
-    servo Servo(servoPin);
+    Servo servo(servoPin);
     Timer t;  
     
 void motorInit(){
@@ -92,7 +92,7 @@
 
 
 void motorControl(){
-    if(motorEnable){  // only run motors if switch is enabled
+    if(motorsEnable){  // only run motors if switch is enabled
     // get encoder positions in degrees
         // 131.25:1 gear ratio
         // getPosition uses X2 configuration, so 32 counts per revolution
@@ -150,7 +150,7 @@
 
 void servoControl(){
     // use potMeter Value to set servo angle
-    Servo.write(servoPos);
+    servo.write(servoPos);
     // (optionaly calculate xy position to keep balloon in position)
         // calculate z position using angle
         // calculate x y translation of endpoint