Team 9 / Motor

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Diff: Motor.cpp

Revision:
6:a9ab4e153009
Parent:
3:8f4f4d3a91bc
Child:
7:b76e530f94f0
Child:
10:573cd4808d91
diff -r 8f4f4d3a91bc -r a9ab4e153009 Motor.cpp
--- a/Motor.cpp	Sat Apr 25 02:42:23 2015 +0000
+++ b/Motor.cpp	Thu May 21 06:33:47 2015 +0000
@@ -97,12 +97,20 @@
                    float iLimit, 
                    volatile float ki, 
                    volatile float kp, 
-                   PwmOut *motor)
+                   PwmOut *motor,
+                   DigitalOut *brake)
 {
     
     float delta_spd = target_spd - actual_spd;
     
     //if delta_spd large, brake this cycle.
+    if(delta_spd < -0.35){
+        motor->write(0.0);
+        *brake = 1;
+        return;
+    } else{
+        *brake = 0;
+    }
     
     (*iState) += delta_spd;
     if ((*iState)*ki > iLimit) {