Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

Diff: realtime.h

Revision:
19:2fe650d29823
Parent:
17:bd6b6ac89e0e
Child:
20:e73f49ba5001
--- a/realtime.h	Sun Feb 10 12:05:16 2019 +0000
+++ b/realtime.h	Sun Feb 24 11:02:56 2019 +0000
@@ -1,6 +1,7 @@
 Ticker rt_ticker;
 bool realtime_flag;
 
+
 void balance_coord(){
     float delta_x = (target.x - current.x); if (delta_x == 0) delta_x = 0.0001;
     float delta_y = (target.y - current.y);
@@ -50,11 +51,10 @@
 }
 
 void realtime(){ 
-    static int fall_timer;
-    
     time_sec += t_step;
-    fall_timer++; if(abs(ax)<1) fall_timer=0; if(fall_timer>50) fall_flag=1; else fall_flag=0;     //fall check
-    realtime_flag = 1; }
+    fall_timer++; if(abs(ax)<3) fall_timer=0; if(fall_timer>50) fall_flag=1; else fall_flag=0;     //fall check
+    realtime_flag = 1; 
+    }
 
 void realtime_init(){
     rt_ticker.attach(&realtime, t_step);    }