GDP 4 / Mbed 2 deprecated pid-car-example

car using PID from centre line

Dependencies:   FRDM-TFC mbed CBuffer XBEE mbed_angular_speed motor2 MMA8451Q

Fork of KL25Z_Camera_Test by GDP 4

Diff: main.cpp

Revision:
51:6a84fbc404c8
Parent:
50:1cfe1f975b0c
Child:
52:af17b1a330f4
--- a/main.cpp	Thu Apr 27 15:51:01 2017 +0000
+++ b/main.cpp	Thu Apr 27 15:58:18 2017 +0000
@@ -174,7 +174,7 @@
                      speed = 65;
                      }
                      else{
-                        speed = 0.6
+                        speed = 0.6;
                      }
                      ed_tune = man_tuner;
                     break;
@@ -184,7 +184,7 @@
                      speed = 80;
                      }
                      else{
-                        speed= 0.8
+                        speed= 0.8;
                      }
                      ed_tune = man_tuner;
                     break;
@@ -427,7 +427,7 @@
     t.start();
     handlePID(&servo_pid);
     //enables the ED
-    sensorCorner(left_motor_pid.desired_value,right_motor_pid.desired_value, servo_pid.output,speed,ed_tune);
+    //sensorCorner(left_motor_pid.desired_value,right_motor_pid.desired_value, servo_pid.output,speed,ed_tune);
     handlePID(&left_motor_pid);
     handlePID(&right_motor_pid);
 
@@ -470,9 +470,12 @@
     if(right_motor_pid.output < 0.0f) {
         right_motor_pid.output = 0.0f;
     }
-    
+    if(!torque){
     TFC_SetMotorPWM(left_motor_pid.output,right_motor_pid.output);
-    
+    }
+    else{
+        dutyCycleCorner(speed,servo_pid.output);
+    }
     t.stop();
     t.reset();
     t.start();