Diff: main.cpp

Revision:

10:076eb8beea30

Parent:

8:ceb9abb5a4a8

--- a/main.cpp	Mon Oct 15 12:13:42 2018 +0000
+++ b/main.cpp	Mon Oct 15 12:38:37 2018 +0000
@@ -32,18 +32,21 @@
     // Returns reference velocity in rad/s. 
     // Positive value means clockwise rotation.
     // 60 rpm = 60*2*pi/60 = 6.28 ~ 6.2 rad/s
-    const float maxVelocity=6.2; // in rad/s of course!    
+    const double maxVelocity= 6.2; // in rad/s of course!    
     double referenceVelocity;  // in rad/s
-    if (button2)
-        {
-        // Clockwise rotation      
-        referenceVelocity = potMeterIn * maxVelocity;  
-        } 
-        else
-        {
-        // Counterclockwise rotation       
+    switch(motor1_direction)
+    {
+        case 0: // Clockwise rotation     
+        referenceVelocity = -1*potMeterIn * maxVelocity;  
+        pc.printf("Velocity is %d\r\n", referenceVelocity);
+        break;
+        case 1: // Counterclockwise rotation    
         referenceVelocity = -1*potMeterIn * maxVelocity;   
-        }
+        pc.printf("Velocity is %d\r\n", referenceVelocity);
+        break;
+        default:
+        pc.printf("It goes wrong, the velocity is not -1 or 1");
+    }
     return referenceVelocity;
 }