Module 9 Super Team / Mbed 2 deprecated hookey_controller

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Dependencies:   EMG1 PIDController1 compute mbed InBetweenController PinDetect QEI

Diff: main.cpp

Revision:
10:3cee5adfbd72
Parent:
9:70cab4bf38a5
Child:
11:46a859e526ca
--- a/main.cpp	Mon Oct 26 12:14:22 2015 +0000
+++ b/main.cpp	Tue Oct 27 11:43:55 2015 +0000
@@ -16,6 +16,7 @@
 bool        go_motor = true;
 bool        go_tick = false;
 bool        go_sample = false;
+double      motorSpeed = 0.05;
 
 double      emg_out0, emg_out1, emg_out2;
 
@@ -36,6 +37,14 @@
     // Calculate the new position using the EMG output and the current position
     newPos(emg_out0, emg_out1, 0, a, b, x, y);
     pc2.printf("O0: %f | O1: %f | O2: %f\r\n",emg_out0, emg_out1, emg_out2);
+    
+    Angles2Point(x,y,a,b);
+    
+    if(a < -20 || a > 20) 
+        motorSpeed = 0.03;
+    else
+        motorSpeed = 0.05;
+    
     // Rotate the motors
     rotate(x,y);
 }
@@ -64,7 +73,7 @@
 void calibrate()
 {
     sample_timer.attach(&goSample, 0.002);
-    calc_timer.attach(&goTick, 0.5);
+    calc_timer.attach(&goTick, 0.15);
 }
 
 /* Initialize the buttons */
@@ -108,7 +117,7 @@
         // The motor timer
         if(go_motor) {
             go_motor = false;
-            moveTick();
+            moveTick(motorSpeed);
         }
         // The sample timer
         if(go_sample) {