Diff: motor.cpp

Revision:

1:09226806dd15

Parent:

0:b0476dcfa14c

Child:

2:cc8ddc587af7

--- a/motor.cpp	Tue Oct 18 14:57:55 2016 +0000
+++ b/motor.cpp	Fri Oct 21 13:14:39 2016 +0000
@@ -20,7 +20,7 @@
 void cornerRight(float speed);
 
 
-//int cornerPwmControl;// this sets the cornering percentage ratio. value between 100 and 0.
+int cornerPwmControl;// this sets the cornering percentage ratio. value between 1 and 0.
                      // 100 means both motors run at the same speed. 0 means that one motor turns off.
 
 
@@ -156,6 +156,10 @@
 void cornerLeft(float speed)
     {// when cornering left the left motor slows down more than the right hand side
     // may just replace with ACC and DECC
+    w1 = speed + diff;
+        w2 = speed-diff;
+        TFC_SetMotorPWM(w2,w1); //temperary values
+        
      TFC_SetMotorPWM(speed,speed*cornerPwmControl);//temperary values
      
      return;   
@@ -164,7 +168,10 @@
 void cornerRight(float speed)
     {   // may need to put deceleration control within here.
         // may just replace with ACC and DECC
-        TFC_SetMotorPWM(speed*cornerPwmControl,speed); //temperary values
+        float diff = speed*cornerPwmControl;
+        w1 = speed + diff;
+        w2 = speed-diff;
+        TFC_SetMotorPWM(w1,w2); //temperary values
         
      return;   
     }