GDP 4 / motor2

changes to motor library

Dependents:   pid-car-example

Fork of motor by Lawrence Harlow

Diff: motor.cpp

Branch:
motorupdate
Revision:
20:ca87a36c7688
Parent:
19:69c142d81437
Child:
21:aaa482dad274
diff -r 69c142d81437 -r ca87a36c7688 motor.cpp
--- a/motor.cpp	Wed Nov 30 10:50:22 2016 +0000
+++ b/motor.cpp	Wed Nov 30 11:10:07 2016 +0000
@@ -158,8 +158,14 @@
  
     float deltaW = ((0.1f*tan((theta/0.02222f)* (3.14f / 180.0f)))/0.2f)*speed;
     
-    w1= speed+ deltaW;
-    w2= speed -deltaW;
+    if(leftOrRight){
+          w1= speed+ deltaW;
+          w2= speed -deltaW;
+        else{
+            w1= speed- deltaW;
+            w2= speed +deltaW;
+        }
+    
         
         
     return;