Diff: driving.h

Revision:

17:d2c98ebda90b

Parent:

16:8cd4dd323941

Child:

18:831c1e03d83e

--- a/driving.h	Tue Oct 26 17:06:39 2021 +0000
+++ b/driving.h	Tue Oct 26 19:10:13 2021 +0000
@@ -71,6 +71,9 @@
     are_brakes_activated = true;
     brakeLeft = 1;
     brakeRight = 1;
+    errorAreaRight = 0.0;
+     errorAreaLeft = 0.0;
+     
     };
 
 
@@ -82,9 +85,13 @@
 
 volatile bool motor_enabled = false;
 void PI(void) { //motor PI interrupt
+
+speedLeftVolt = (speedSensorLeft.read() * 3.3f);
+speedRightVolt = (speedSensorRight.read() * 3.3f);
+
     if(motor_enabled == true) {
-         setpointLeft = 0.2;
-         setpointRight = 0.2;
+         //setpointLeft = 0.2;
+         //setpointRight = 0.2;
         //--- Calculate Error ---
         errorLeft = setpointLeft - (speedLeftVolt / 3.3f); //error and setpoint is defined as a percentage, from 0 to 1
         errorRight = setpointRight - (speedRightVolt / 3.3f);
@@ -153,26 +160,10 @@
                     clampRight = false;
             }
             
-            //--- fucked up manual braking stuff ---
-            if (brakeLeftBool == true)
-            {
-                errorAreaLeft = 0.0;
-                brakeLeft = 1;
-            } else {
-                brakeLeft = 0;
-            }
-            
-            if (brakeRightBool == true)
-            {
-                errorAreaRight = 0.0; 
-                brakeRight = 1;
-            } else {
-                brakeRight = 0;
-            }
-            
+               
             //--- set motors to calculated output ---    
-            motorLeft.write(0.2); // 0.2 For debugging 
-            motorRight.write(0.2);
+            motorLeft.write(dutyCycleLeft); // 0.2 For debugging 
+            motorRight.write(dutyCycleRight);
             
 //--- motor braking ---
 /*