Alan Millard / Mbed 2 deprecated BeautifulMemeProjectBT

Bluetooth communication for flocking.

Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

Diff: PsiSwarm/motors.cpp

Revision:
13:f5994956b1ba
Parent:
9:085e090e1ec1
diff -r daa53285b6e4 -r f5994956b1ba PsiSwarm/motors.cpp
--- 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)
 {