Nicolae Marton / Mbed 2 deprecated TDP3_OOP

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Dependencies:   mbed

Diff: LineFollowingRobot/main.cpp

Revision:
4:645b5d648c64
Parent:
3:54c41af9e119
Child:
5:bb0bec710c91
--- a/LineFollowingRobot/main.cpp	Sun Feb 03 16:42:44 2019 +0000
+++ b/LineFollowingRobot/main.cpp	Wed Feb 06 14:02:07 2019 +0000
@@ -19,7 +19,7 @@
     - Backwards PWM :       PTA4
     - Forward PWM :         PTA5
 
-Motor Left Control :
+Motor Right Control :
     - Motor Enable :        PTA13
     - Backwards PWM :       PTD5
     - Forward PWM :         PTD0
@@ -61,11 +61,21 @@
     //waits for an interrupt to occur, then performs all the calculations
     if(toggleIR != IRSensor.m_toggle){
         
-        IRSensor.WeightPID();
-        IRSensor.CalculatePID();
+        //IRSensor.WeightPID();
+        //IRSensor.CalculatePID();
         IRSensor.MotorControl(controlLeft,controlRight);
         
+        if(IRSensor.m_dirL != IRSensor.m_prevDirL) controlLeft.SetDirection(IRSensor.m_dirL);
+        if(IRSensor.m_dirR != IRSensor.m_prevDirR) controlRight.SetDirection(IRSensor.m_dirR);
+    
+        controlLeft.SetSpeed(abs(IRSensor.m_speedL));
+        controlRight.SetSpeed(abs(IRSensor.m_speedR));
+    
+        IRSensor.m_prevDirL = IRSensor.m_dirL;
+        IRSensor.m_prevDirR = IRSensor.m_dirR;
+        
+        printf("toggle %d", toggleIR);
         toggleIR = IRSensor.m_toggle;
-        }        
+        }
     }       
 }
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