embedded / RemoteIR

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Dependents:   line_tracing

Diff: ReceiverIR.cpp

Revision:
16:3922b10d4606
Parent:
15:b56a97811380
Child:
17:6d2532146627
--- a/ReceiverIR.cpp	Thu Jun 06 11:16:22 2019 +0000
+++ b/ReceiverIR.cpp	Fri Jun 07 14:50:21 2019 +0000
@@ -18,11 +18,9 @@
     evt.rise(this, &ReceiverIR::isr_rise);
     evt.mode(PullUp);
     ticker.attach_us(this, &ReceiverIR::isr_wdt, 10 * 1000);    
-    Speed_L = 0.45 ;
+    Speed_L = 0.35 ;
     //Speed_R = _speed *1.005;
-    Speed_R = 0.445 ; 
-    init_sp_l = Speed_L;
-    init_sp_r = Speed_R;
+    Speed_R = 0.345 ; 
 }
  
 /**
@@ -133,7 +131,7 @@
 //        Speed_L = 0.5;
 //    }
 //    pwma = Speed_L;
-    max += 5;
+    //max += 5;
 }
 void ReceiverIR::speeddown_l(void){
     //Speed_L -= 0.0005;
@@ -141,7 +139,7 @@
 //        Speed_L = 0;
 //    }
 //    pwma = Speed_L;
-    max -= 5;
+    //max -= 5;
 }
 void ReceiverIR::speedup_r(void){
    // Speed_R += 0.0005; 
@@ -151,7 +149,7 @@
 //    pwmb = Speed_R;
 
     //max += 5;
-    ki += 500;
+    //ki += 500;
 }
 void ReceiverIR::speeddown_r(void){
 //    Speed_R -= 0.0005;
@@ -161,7 +159,7 @@
 //    pwmb = Speed_R;
     
     //max -= 5;
-    ki -= 500;
+    //ki -= 500;
 }
 
 void ReceiverIR::speed_l(float sp_l){
@@ -180,7 +178,7 @@
     pwmb = Speed_R;
 }
 
-void ReceiverIR::forward(void){
+void ReceiverIR:: forward(void){
     pwma = Speed_L;
     pwmb = Speed_R;