Jeong Hoon Jo / motor

190711

Diff: motor.cpp

Revision:
2:01227a4bd3d7
Parent:
1:911f5a86c105
Child:
3:df8469e71728
--- a/motor.cpp	Thu May 09 23:51:13 2019 +0000
+++ b/motor.cpp	Thu May 09 23:53:27 2019 +0000
@@ -149,13 +149,13 @@
     else if(control <-510) control = -510;
     PreviousError = Error;
     if(TargetSpeed>0){
-        duty += -control;
-        _Dir=0;
-    }else{
         duty += control;
         _Dir=1;
+    }else{
+        duty +=- control;
+        _Dir=0;
     }
-    vel=duty/1000;
+    vel=duty/1000000;
     _pwm.write(vel);
     printf("duty: %d  Error: %d\r\n",duty,Error);