Diff: main.cpp

Revision:

1:133216180125

Parent:

0:ea293bbf9717

Child:

2:892b58e56712

--- a/main.cpp	Thu Apr 27 13:26:58 2017 +0000
+++ b/main.cpp	Thu Apr 27 16:47:29 2017 +0000
@@ -23,7 +23,7 @@
     float D = 0.00;
     char userInput;
 
-    bce().run(motor_cmd);
+    hBridge().run(motor_cmd);
 
     //set the intial gains for the position controller
     posCon().setPgain(P);
@@ -39,7 +39,7 @@
 
         //update the controller with the current numbers in the position guesser
         posCon().update(pvf().getPosition(), pvf().getVelocity(), pvf().getDt()) ;
-        bce().run(posCon().getOutput());
+        hBridge().run(posCon().getOutput());
 
         if (pc().readable()) {
             // get the key
@@ -80,7 +80,7 @@
             }
             if (userInput == ' '){
                 //reset the h-bridge
-                bce().reset();    
+                hBridge().reset();    
             }
 
             //if (userInput == ' ') {
@@ -96,7 +96,7 @@
             //    motor_cmd = -1.0;
             //}
             // assign the shiny new commands to the pins
-            //bce().run(motor_cmd);
+            //hBridge().run(motor_cmd);
             if (userInput == '\r') {
                 posCon().writeSetPoint(positionCmd);
                 posCon().setPgain(P);