Jitse Giesen / Mbed 2 deprecated master

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Dependencies:   biquadFilter mbed MODSERIAL

Diff: main.cpp

Revision:
1:9e871647a074
Parent:
0:51a6e38a4d4a
Child:
2:bf1c9d7afabd
--- a/main.cpp	Thu Oct 26 12:49:05 2017 +0000
+++ b/main.cpp	Thu Oct 26 12:56:31 2017 +0000
@@ -311,16 +311,16 @@
     double maxVelocity1=Vex*25+Vey*25; // max 8.4 in rad/s of course!       
     referenceVelocity1 = (-1)*speedfactor1 * maxVelocity1;  
                 
-    if (Encoder1.getPulses() < (dcounto+10))
+    if (dcounto < (10))
         {   speedfactor1 = 0.01;
-            if (Encoder1.getPulses() > (dcounto-10))
+            if (dcounto > (-10))
                 { printf("kleiner111111111");
                 speedfactor1=0;
                 }
         }
-        else if (Encoder1.getPulses() > (dcounto-10))
+        else if (dcounto > (-10))
         {   speedfactor1 = -0.01;
-             if (Encoder1.getPulses() < (dcounto+10))
+             if (dcounto < (10))
                 { printf("groter");
                 speedfactor1=0;
                 }