Initial Commit
Dependencies: mbed HC05 QEI MODSERIAL SWSPI mbed-rtos
Diff: main.cpp
- Revision:
- 6:5ab1735265a9
- Parent:
- 5:eb706d3e512c
--- a/main.cpp Tue Oct 21 14:02:19 2014 +0000 +++ b/main.cpp Tue Oct 21 21:59:15 2014 +0000 @@ -32,8 +32,8 @@ void Motorcontroller(void const *args) { - Current_Right_pulse= right.getPulses()/5; - Current_Left_pulse=left.getPulses()*(-1)/5; + Current_Right_pulse= right.getPulses()/10; + Current_Left_pulse=left.getPulses()*(-1)/9.85; Change_Right_pulse=Current_Right_pulse- Previos_Right_pulse; Change_Left_pulse=Current_Left_pulse- Previous_Left_pulse; @@ -69,8 +69,8 @@ if(Last_Error_Left==100) { Linput=0; } - *motors.Left = -Linput; // HARSH change to -Linput for black and Linput for blue - *motors.Right = Rinput; //// HARSH change to Rinput for black and -Rinput for blue + *motors.Left = Linput; // HARSH change to -Linput for black and Linput for blue + *motors.Right = -Rinput; //// HARSH change to Rinput for black and -Rinput for blue } char c; char buffer[10];