Diff: main.cpp

Revision:

1:4f5a22371fff

Parent:

0:165e50fc913f

Child:

2:3bf43044ef9f

--- a/main.cpp	Tue Apr 12 12:28:01 2016 +0000
+++ b/main.cpp	Fri May 06 07:49:34 2016 +0000
@@ -49,19 +49,19 @@
             n++;
         }
     }else{
-        prePwmDuty[0]=1.41421356*sin(rad+qPI)*conratio;
-        prePwmDuty[1]=1.41421356*sin(rad-qPI)*conratio;
+        prePwmDuty[0]=1.41421356*sin(rad+qPI);//*conratio;
+        prePwmDuty[1]=1.41421356*sin(rad-qPI);//*conratio;
         prePwmDuty[2]=prePwmDuty[1];
         prePwmDuty[3]=prePwmDuty[0];
     }
     
     turn = (data[2]-63)/64.0;
-    turn = 0;
+    //turn = 0;
     
-    prePwmDuty[0]+=turn*ratio;
-    prePwmDuty[1]+=turn*ratio;
-    prePwmDuty[2]-=turn*ratio;
-    prePwmDuty[3]-=turn*ratio;
+    prePwmDuty[0]+=turn;//*conratio;//*ratio;
+    prePwmDuty[1]-=turn;//*conratio;//*ratio;
+    prePwmDuty[2]+=turn;//*conratio;//*ratio;
+    prePwmDuty[3]-=turn;//*conratio;//*ratio;
     
     while(i<4){
         if(prePwmDuty[i]<-1.0) prePwmDuty[i]=-1.0;
@@ -104,8 +104,10 @@
     i2c.frequency(300000);
     ledsReset();
     FEP02.baud(19200);
+    /*
     MotorRun();
     wait(3);
+    */
     MotorReset();
     //FEP02.attach(&getConData);
     leds[0]=1;
@@ -129,6 +131,10 @@
             printf("%d\r\n",i2cVAL);
             printf("%d,%d,%d,%d\r\n",MDFL[0],MDFR[0],MDRL[0],MDRR[0]);
             leds[0]=!leds[0];
-        }            
+            leds[1]=1;
+            if(i2cVAL) leds[2]=1;
+            else leds[2]=0;
+        }
+        leds[1]=0;            
     }
 }