Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Diff: Hardwares/Motor.cpp

Revision:
52:078b521c9edf
Parent:
47:a682be9908b9
Child:
87:15fcf7891bf9
diff -r a8e58fd3e131 -r 078b521c9edf Hardwares/Motor.cpp
--- a/Hardwares/Motor.cpp	Thu Apr 06 18:37:16 2017 +0000
+++ b/Hardwares/Motor.cpp	Thu Apr 06 18:57:54 2017 +0000
@@ -7,9 +7,8 @@
 #include "PinAssignment.h"
 #include "GlobalVariable.h"
 
-#define MOTOR_PERIOD  0.020
+#define MOTOR_PERIOD  0.020f
 
-#define MAX_SPEED_LIMIT 0.2
 
 
 #ifdef __cplusplus
@@ -37,7 +36,7 @@
     
     motor_set_left_direction(speed < 0 ? MDIR_Backward : MDIR_Forward);
     
-    motor_pwm_l.pulsewidth((speed < 0 ? -speed : speed) * MOTOR_PERIOD * MAX_SPEED_LIMIT);
+    motor_pwm_l.pulsewidth((speed < 0 ? -speed : speed) * MOTOR_PERIOD * MOTOR_MAX_SPEED_LIMIT);
     
     //char buf[20];
     //sprintf(buf, "Motor %f", (float)motor_pwm_l);
@@ -51,7 +50,7 @@
     
     motor_set_right_direction(speed < 0 ? MDIR_Backward : MDIR_Forward);
     
-    motor_pwm_r.pulsewidth((speed < 0 ? -speed : speed) * MOTOR_PERIOD * MAX_SPEED_LIMIT);
+    motor_pwm_r.pulsewidth((speed < 0 ? -speed : speed) * MOTOR_PERIOD * MOTOR_MAX_SPEED_LIMIT);
 }
 
 void motor_set_left_direction(MotorDir dir)