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Mekatronics Team G
Dependencies: BNO055_fusion PowerControl mbed BMP280
Fork of DEMO3 by
Diff: LOCOMOTION.cpp
- Revision:
- 30:116cd143fdf7
- Parent:
- 29:e8ef4a2e628d
--- 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)