Diff: controls.cpp

Revision:

10:4a825f818432

Parent:

9:76e4808df4cb

--- a/controls.cpp	Fri Dec 01 21:20:29 2017 +0000
+++ b/controls.cpp	Thu Apr 05 21:21:51 2018 +0000
@@ -79,19 +79,19 @@
 
         if(cycle_speed_M1>1) // Can't go over 1 as that is the max speed
             cycle_speed_M1=1;
-        if(cycle_speed_M1<0){  //Can't go under 0 either
-          //  pc.printf("M1: %8.8f\n",cycle_speed_M1);
+        if(cycle_speed_M1<0) { //Can't go under 0 either
+            //  pc.printf("M1: %8.8f\n",cycle_speed_M1);
             cycle_speed_M1=0;
-            }
+        }
         if(cycle_speed_M2>1)
             cycle_speed_M2=1;
-        if(cycle_speed_M2<0){
-        //pc.printf("M2: %8.8f\n",cycle_speed_M2);
+        if(cycle_speed_M2<0) {
+            //pc.printf("M2: %8.8f\n",cycle_speed_M2);
             cycle_speed_M2=0;
-            }
-    
-      //pc.printf("m1: %8.8f\n",cycle_speed_M1);
-    //pc.printf("m2: %8.8f\n",cycle_speed_M2);
+        }
+
+        //pc.printf("m1: %8.8f\n",cycle_speed_M1);
+        //pc.printf("m2: %8.8f\n",cycle_speed_M2);
         //adjusting delays based off PID_error corrections
         pulse_M1 = (pulse_cycle-pulse_cycle*(1-cycle_speed_M1));
         period_M1 = (pulse_cycle-pulse_cycle*cycle_speed_M1);
@@ -101,7 +101,7 @@
         period_M2 = (pulse_cycle-pulse_cycle*cycle_speed_M2);
 
         //pc.printf("pulse2: %8.8f\n", pulse_M1);
-       // pc.printf("period2: %8.8f\n", period_M1);
+        // pc.printf("period2: %8.8f\n", period_M1);
         //controlling the speed for motor 1
         if(High_M1) {
             High_M1=pulse_M1 > T_M1.read_ms();
@@ -133,7 +133,7 @@
                 T_M2.reset();
             }
         }
-        
+
     }
     T.stop();
     T_M1.stop();