Diff: controls.cpp

Revision:

8:45797dcd8b66

Parent:

7:edd065946e9b

--- a/controls.cpp	Wed Nov 22 06:58:41 2017 +0000
+++ b/controls.cpp	Fri Dec 01 20:07:48 2017 +0000
@@ -1,4 +1,7 @@
 #include "controls.h"
+#include "controller.h"
+
+class controller; 
 
 void dir_control_M1(controls dir)
 {
@@ -47,7 +50,7 @@
 
 const double pulse_cycle = 10; // ms
 
-void move(double cycle_speed, int duration_ms, controls dir_M1, controls dir_M2, double (*PID_error)())   // cycle_speed from 0 - 1
+void move(double cycle_speed, *controller cntlr, controls dir_M1, controls dir_M2, double (*PID_error)())   // cycle_speed from 0 - 1
 {
     Timer T;
     Timer T_M1;
@@ -72,7 +75,7 @@
     T_M1.start();
     T_M2.start();
 
-    while(T.read_ms()<(duration_ms)) {
+    while(counterM1 > cntlr->get_turn_cycles() || get_event() ) {
 
         cycle_speed_M1= cycle_speed - (*PID_error)(); //PID_error() should be under 1 most/all of the time ideally
         cycle_speed_M2= cycle_speed + (*PID_error)();
@@ -132,15 +135,5 @@
 
 }
 
-void sharp_right(int delay, int cycle_speed)
-{
-    move(cycle_speed, delay, forward, backward, PID);
-    move(cycle_speed, delay, forward, backward, PID);
-}
-void sharp_left(int delay)
-{
-
-}
 
 
-