Carter Sharer / Mbed 2 deprecated BroBot_RTOS_ESE350

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Dependencies:   MPU6050_V3 mbed-rtos mbed

Fork of BroBot_RTOS_Development by Arvind Ramesh

Diff: stepper_motors.h

Revision:
11:2553f5798f84
Parent:
6:62cdb7482b50
Child:
12:16d1a5390022
diff -r 48f640a54401 -r 2553f5798f84 stepper_motors.h
--- a/stepper_motors.h	Tue Jan 10 21:10:39 2017 +0000
+++ b/stepper_motors.h	Thu Jan 19 19:18:54 2017 +0000
@@ -1,6 +1,6 @@
 //STEPPER MOTORS
 #define ZERO_SPEED 1000000 //65535
-#define MAX_ACCEL 7
+#define MAX_ACCEL 2
 #define ENABLE 0
 #define DISABLE 1
 
@@ -57,8 +57,12 @@
 void setMotor1Speed(int16_t speed)
 {
     long timer_period;
+    //If the speed has not changed, do not update the timer!
+    if(speed_M1 == speed){
+     return;   
+    }
     speed = CAP(speed, MAX_CONTROL_OUTPUT);
-
+    
     //Calculate acceleration from the desired speed
     int16_t desired_accel = speed_M1 - speed;
     if(desired_accel > MAX_ACCEL)
@@ -87,6 +91,10 @@
 void setMotor2Speed(int16_t speed)
 {
     long timer_period;
+    //If the speed has not changed, do not update the timer!
+    if(speed_M2 == speed){
+     return;   
+    }
     speed = CAP(speed, MAX_CONTROL_OUTPUT);
 
     //Calculate acceleration from the desired speed