Diff: main.cpp

Revision:

5:137dfb3e692f

Parent:

4:f4852befd69c

Child:

6:971236e48adc

--- a/main.cpp	Thu Mar 02 21:39:22 2017 +0000
+++ b/main.cpp	Thu Mar 02 21:55:33 2017 +0000
@@ -14,7 +14,8 @@
 //camera data pins used are (D0-D7): PTC7, PTC0, PTC3, PTC4, PTC5, PTC6, PTC10, PTC11
 //other camera pins: SCL->PTE5, SDA->PTE4, PCLK->PTE21, VSYNC->PTE30, H->PTE29
 PwmOut servo(PTE20);
-PwmOut motor(PTA5);
+PwmOut motor_left(PTA5);
+PwmOut motor_right(PTC8);
 DigitalOut DIR_L(PTD4);
 DigitalOut DIR_R(PTA4);
 
@@ -44,8 +45,9 @@
     turnAngle -= STRAIGHT; //this gets a value from -0.00035 and +0.00035
     turnAngle = abs(turnAngle);
     float turnRatio = turnAngle/0.00035f;
-    float newSpeed = (0.9*(1-turnRatio)/4)+0.1;
-    motor.write(newSpeed);
+    float newSpeed = (0.7*(1-turnRatio)/4)+0.3;
+    motor_left.write(newSpeed);
+    motor_right.write(newSpeed);
 }
 
 void turnWheels(){//int[][] frame, float speed){
@@ -76,9 +78,10 @@
  
 int main() {    
     //timer.start();
-    motor.period_us(50);
+    motor_left.period_us(50);
+    motor_right.period_us(50);
     //motor.write(0.25);
-    DIR_R = 1; //what purpose do these lines serve?
+    DIR_R = 1;
     DIR_L = 0;
     servo.period(0.020f);
     //servo.pulsewidth(STRAIGHT);