Diff: main.cpp

Revision:

6:d133964667f3

Parent:

5:03074e90ef7a

--- a/main.cpp	Sun Nov 20 19:29:37 2016 +0000
+++ b/main.cpp	Mon Nov 28 13:08:24 2016 +0000
@@ -30,7 +30,7 @@
 ServoIn CH1(p15);
 ServoIn CH2(p16);
 
-InterruptIn he_sensor(p23);
+InterruptIn he_sensor(p11);
 ServoOut Steer(p22);
 ServoOut Throttle(p21);
 Timer t; // create timer instance
@@ -47,7 +47,7 @@
 // USER DEFINED VARIABLES
 float distance;
 float steering_offset;
-float hdg_comp, hdg_gyro; 
+float hdg_comp, hdg_gyro, hdg_est; 
 
 
 // ============================================
@@ -148,7 +148,7 @@
         // *******************************************
         // Compute speed from hall effect sensor
         if(t.read()-t_hall < 0.2) {
-            speed = WHL_RADIUS*GEAR_RATIO*(2*PI)/(dt_hall);   // inches/sec
+            speed = 2*WHL_RADIUS*GEAR_RATIO*(2*PI)/(dt_hall);   // inches/sec
         } else {
             speed = 0;
         }