Diff: motor.cpp

Branch:

motorupdate

Revision:

33:734ce4c36c3f

Parent:

31:51783b84a859

Child:

35:f5933039b560

--- a/motor.cpp	Thu Jan 12 13:29:08 2017 +0000
+++ b/motor.cpp	Fri Jan 13 09:59:51 2017 +0000
@@ -136,12 +136,12 @@
 }
         
         
-void sensorCorner(float &w1,float &w2,float theta,float speed)
+void sensorCorner(float &w1,float &w2,float theta,float speed, float tune)
 {   // when cornering left the left motor slows down more than the right hand side
    // this is the ED for when the car is running off of the sensors rather than a set PWM
    
     bool leftOrRight = false;
-    float tune = 0.8;
+    
     // makes theta positive and sets if the car is turning left or right
     if(theta<0)
         {
@@ -151,9 +151,9 @@
         }
         
     //this limits the ED to stop it spinning out at high speeds.
-    if(theta>0.5)
+    if(theta>0.4)
     {
-     theta = 0.5;   
+     theta = 0.4;   
         
     }
     
@@ -180,12 +180,15 @@
     }
     
     else{
-        //calulates the speed in eack wheel.
+        //calulates the speed in eack wheel
+        //speed of inner wheel
         float vin = speed*(2 - 0.1/tan((theta/0.022222)*(3.14f / 180.0f)));
+        //speed of outer wheel.
         float vout = speed*(2 + 0.1/tan((theta/0.022222)*(3.14f / 180.0f)));
         if(leftOrRight){
           
           w1=vout;
+          
           w2=vin;
           
           }