Diff: controls.cpp

Revision:

9:76e4808df4cb

Parent:

7:edd065946e9b

Child:

10:4a825f818432

--- a/controls.cpp	Wed Nov 22 06:58:41 2017 +0000
+++ b/controls.cpp	Fri Dec 01 21:20:29 2017 +0000
@@ -79,14 +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
+        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)
+        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);
         //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);
@@ -95,11 +100,15 @@
         pulse_M2 = (pulse_cycle-pulse_cycle*(1-cycle_speed_M2));
         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);
         //controlling the speed for motor 1
         if(High_M1) {
             High_M1=pulse_M1 > T_M1.read_ms();
+            //pc.printf("timer m1 move: %8.8f\n",T_M1.read_ms());
             if(!High_M1) { //pulse has finished and going LOW
                 dir_control_M1(stall);
+                pc.printf("timer m1 stall: %f\n",T_M1.read_ms());
                 T_M1.reset();  //start the delay between pulse (note that it continues counting)
             }
         } else {