Diff: main.cpp

Revision:

6:b3fd4c6a292e

Parent:

5:efa3157df167

Child:

7:1d276d663e1e

--- a/main.cpp	Wed Sep 23 15:12:22 2015 +0000
+++ b/main.cpp	Thu Sep 24 10:46:13 2015 +0000
@@ -63,7 +63,6 @@
 //re usable P controller
 double p_control(float error,float kp)
 {
-    //pc.printf("%f\n",error);
     return (error*kp);
 }
 
@@ -88,21 +87,19 @@
             }
 
             if (fabs(signal_motor1)>=1) { //check if signal is <1
-                signal_motor1=1;
+                signal_motor1=1;//if signal >1 make it 1 to not damage motor
             } else {
-                signal_motor1=fabs(signal_motor1);
+                signal_motor1=fabs(signal_motor1);// if signal<1 use signal
             }
 
             motor1_speed_control.write(fabs(signal_motor1));//write signal to motor
-            //pc.printf("%f\n",motor1_speed_control.read());
             p_control_go=false;
-
         }
-
+        //call scopedata
         if (scopedata_go==true) {
-            // scope.set(2,motor1_speed_control.read());
             scopedata();
             scopedata_go=false;
         }
     }
+    return 0;
 }