GDP 4 / motor2

changes to motor library

Dependents:   pid-car-example

Fork of motor by Lawrence Harlow

Diff: motor.cpp

Branch:
motorupdate
Revision:
25:255d169a45e1
Parent:
24:15c6bbdbb0e4
Child:
26:c74e70a745ec
--- a/motor.cpp	Wed Jan 11 10:53:26 2017 +0000
+++ b/motor.cpp	Wed Jan 11 11:06:18 2017 +0000
@@ -153,13 +153,21 @@
     }
     float deltaW = ((0.1f*tan((theta/0.02222f)* (3.14f / 180.0f)))/0.2f)*speed;
     
+    //float vin = speed(2 - 0.1/tan((theta/0.022222)*(3.14f / 180.0f));
+    //float vout = speed(2 + 0.1/tan((theta/0.022222)*(3.14f / 180.0f));
+
     if(leftOrRight){
           w1= speed+ deltaW * tune;
           w2= speed -deltaW * tune;
+          //w1=vout;
+          //w2=vin;
+          
           }
     else{
             w1= speed- deltaW*tune;
             w2= speed +deltaW*tune;
+            //w1=vin;
+            //w2=vout;
         }