Ahmed Allibhoy / Mbed 2 deprecated MM_Competition

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Dependencies:   QEI mbed

Diff: main.cpp

Revision:
10:332a4ad5911d
Parent:
9:fd77a619181d
Child:
11:8faa068940f1
--- a/main.cpp	Fri Dec 04 06:01:59 2015 +0000
+++ b/main.cpp	Sat Dec 05 00:41:23 2015 +0000
@@ -10,29 +10,51 @@
     
 
 
-
+float error2;
 
 
 
 void systick(){ //rotations
-    float error = rotationError();
-    obj.updateErr(error);
+    error2 = rotationError();
+    obj.setKp(1);
+    obj.setKi(0);
+    obj.setKd(0);
+    
+    obj.updateErr(error2);
+    
+    pc.printf("error2: %f \n",error2);
+    
     float corr = obj.total();
+    
+    
+    
     leftMotor.addToPwm(corr);
     rightMotor.addToPwm(-corr);    
-
+    
     
-    pc.printf("%f",error);
+   // 
+//    myled = 1; // LED is ON
+//    wait(0.2); // 200 ms
+//    myled = 0; // LED is OFF
+//    wait(1.0); // 1 sec
+    
+    
     }
 
 
+
+
+
 int main()
 {
-    Systicker.attach_us(&systick,1000);
+    
     rightMotor.setPwm(1.0);
     leftMotor.setPwm(1.0);
     
-    pc.printf("Hello!");
+    Systicker.attach_us(&systick,1000);
+    
+    //loop();
+    
     
     
     return 0;