GDP 4 / motor2

changes to motor library

Dependents:   pid-car-example

Fork of motor by Lawrence Harlow

Diff: motor.cpp

Branch:
motorupdate
Revision:
29:d3efef939c18
Parent:
28:9d4042b05640
Child:
30:3d6bb5f736a5
diff -r 9d4042b05640 -r d3efef939c18 motor.cpp
--- a/motor.cpp	Wed Jan 11 19:29:01 2017 +0000
+++ b/motor.cpp	Wed Jan 11 19:30:03 2017 +0000
@@ -118,7 +118,7 @@
             theta=theta*-1;   
             
         }
- 
+    //calculates the difference in 
         float deltaW = ((0.1f*tan((theta/0.02222f)* (3.14f / 180.0f)))/0.2f)*speed;
         
         //TFC_SetMotorPWM(w2,w1);
@@ -150,6 +150,7 @@
             
         }
         
+    //this limits the ED to stop it spinning out at high speeds.
     if(theta>0.5)
     {
      theta = 0.5;