Diff: main.cpp

Revision:

32:6829684f8c4d

Parent:

31:1a06c9e1985e

Child:

33:0fc789c09694

Child:

34:3de7a19ccea3

--- a/main.cpp	Wed Jan 11 11:36:56 2017 +0000
+++ b/main.cpp	Wed Jan 11 19:59:03 2017 +0000
@@ -31,7 +31,7 @@
 Timer t1;
 Timer t2;
 
-//testing timer
+//testing timer for laptimes
 Timer lapTimer;
 
 
@@ -220,10 +220,11 @@
         
         //dutyCycleCorner(speed,servo_pid.output);
         
-        //may want to have just to set cornering speed at different if going to be slowing down for cornering.
+         
         //dutyCycleCorner(float cornerspeed, servo_pid.output);
         //dutyCycleCorner(speed, servo_pid.output);
-        
+        // This activates the electronic differential so that it runs whilst cornering. 
+        // this changes the desired desired speed of each of the wheels according to the angle of the servo.
         sensorCorner(left_motor_pid.desired_value, right_motor_pid.desired_value , servo_pid.output, speed);  
     }
     
@@ -592,14 +593,16 @@
 int lapTime()
 {   
     // function which sends the lap time back to the telemetry.
+    //reads the timer
     float newTime= lapTimer.read();
     lapNo += 1;
     float lapTime= newTime-oldTime;
     float avgTime= newTime/lapNo;
-    
+    // this calulates the average lap time and the lap time.
+    //then sends the information back to the UI.
     sendString("For lap number: %d  Lap Time: %f  Avergae time: %f \n\r", lapNo,lapTime,avgTime);
     
-     // OH WHAT UP IT'S DAT BOI!!!!
+     
     return 0;
 }