Diff: motor.cpp

Revision:

2:cc8ddc587af7

Parent:

1:09226806dd15

Child:

3:5b5d5af46804

--- a/motor.cpp	Fri Oct 21 13:14:39 2016 +0000
+++ b/motor.cpp	Fri Oct 21 13:18:12 2016 +0000
@@ -156,11 +156,17 @@
 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
+    
+    // it may be worth doing this off the change in theta. so that it is insesnsitive to the calibration.
     w1 = speed + diff;
-        w2 = speed-diff;
-        TFC_SetMotorPWM(w2,w1); //temperary values
+    w2 = speed-diff;
+    TFC_SetMotorPWM(w2,w1); //temperary values
         
-     TFC_SetMotorPWM(speed,speed*cornerPwmControl);//temperary values
+    
+    
+    
+        
+     
      
      return;   
     }
@@ -177,5 +183,23 @@
     }
     
     
+void deltaCornerLeft(float speed,float deltaTheta)
+    {// when cornering left the left motor slows down more than the right hand side
+    // may just replace with ACC and DECC
+    
+    // it may be worth doing this off the change in theta. so that it is insesnsitive to the calibration.
+    w1 = speed + diff;
+    w2 = speed-diff;
+    TFC_SetMotorPWM(w2,w1); //temperary values
+        
     
     
+    
+        
+     
+     
+     return;   
+    }
+    
+    
+