Diff: main.cpp

Revision:

5:ef77da99d0d1

Parent:

4:babe09a69296

Child:

6:464d2fdfd7de

--- a/main.cpp	Fri Apr 05 12:28:22 2019 +0000
+++ b/main.cpp	Fri Apr 05 13:11:44 2019 +0000
@@ -249,6 +249,14 @@
 
 void PwmMotor(void)
 {
+    //Continues Read
+    Pot2 = pot.read();
+    Pot1 = pot0.read();
+    pwm2 =(Pot2*2)-1;            //scaling naar -1 tot 1
+    pwm1 =(Pot1*2)-1;
+    Input1 = pwm1;
+    Input2 = pwm2;
+    
     float Polshoek1 = Kinematics1(Input1);
     float Polshoek4 = Limits1(Polshoek1);
     PolsReference = Polshoek4;
@@ -360,13 +368,13 @@
                 ServoTick.attach(ServoPeriod, Periodlength);
                 wait(1);
                 servo_position = 0.9;
-                led2 = 1;
                 wait(1);
                 servo_position = 0.5;
                 wait(1);
                 servo_position = 0.1;
                 wait (1);
                 stateChanged = false;
+                ServoTick.detach();
       }
       
       // State transition logic: automatisch terug naar motors off.