DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
Diff: LOCOMOTION.cpp
- Revision:
- 30:116cd143fdf7
- Parent:
- 29:e8ef4a2e628d
- Child:
- 31:69caabc10879
diff -r e8ef4a2e628d -r 116cd143fdf7 LOCOMOTION.cpp --- a/LOCOMOTION.cpp Wed Apr 13 07:48:49 2016 +0000 +++ b/LOCOMOTION.cpp Tue Apr 19 02:04:10 2016 +0000 @@ -130,10 +130,12 @@ _m1dir=0; _m2dir=1; setMotors12(compG(s,_m1dir,current),compG(s,_m2dir,current)); + //_m2dir=0; } else if(wrap(current+diff)<180-error) { _m1dir=1; _m2dir=0; setMotors12(compG(s,_m1dir,current),compG(s,_m2dir,current)); + //_m2dir=1; } else { setMotors(0); return true; @@ -243,7 +245,7 @@ { _m1dir=1; _m2dir=1; - setMotors12(compG(0.5,_m1dir,angle),compG(0.5,_m2dir,angle)); + setMotors12(compG(0.2,_m1dir,angle),compG(0.2,_m2dir,angle)); } void LOCOMOTION::moveB(void)