James Wilson / Mbed 2 deprecated PsiSwarm-BeaconDemo_Bluetooth

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Dependencies:   mbed

Fork of PsiSwarm-flockingAddedBluetooth by James Wilson

Diff: PsiSwarm/motors.cpp

Revision:
13:f5994956b1ba
Parent:
9:085e090e1ec1
--- a/PsiSwarm/motors.cpp	Tue Oct 27 13:03:10 2015 +0000
+++ b/PsiSwarm/motors.cpp	Tue Oct 27 22:49:41 2015 +0000
@@ -114,6 +114,12 @@
     time_based_action_timeout.attach_us(&IF_end_time_based_action,microseconds);
 }
 
+//Returns the limit of degrees available to turn in given time
+float get_maximum_turn_angle(int microseconds){
+    //We can turn at about 270 degrees per second at full speed
+    return (microseconds * 0.00027);
+}
+
 //Return the time in microseconds that performing the turn will take
 int get_time_based_turn_time(float speed, float degrees)
 {