Ermis Gasetopulos
/
m3pi_TUB
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Diff: m3pi_ng.cpp
- Revision:
- 11:7bfb33432791
- Parent:
- 10:f89d2a3a9ed2
- Child:
- 12:78fd82b3fb09
diff -r f89d2a3a9ed2 -r 7bfb33432791 m3pi_ng.cpp
--- a/m3pi_ng.cpp Tue May 14 11:05:33 2013 +0000
+++ b/m3pi_ng.cpp Fri May 17 14:04:12 2013 +0000
@@ -73,6 +73,19 @@
}
}
+void m3pi::slowstop (float speed, float waittime, int steps) {
+ for (int i=2; i<steps ; i++)
+ {
+ float slowed;
+ slowed=speed*float(steps-i)/float(steps);
+ motor(0,slowed);
+ motor(1,slowed);
+ wait(waittime);
+ }
+ motor(0,0);
+ motor(1,0);
+}
+
void m3pi::reset () {
_nrst = 0;
wait (0.01);