Diff: motor.h

Revision:

4:904b737ef08a

Parent:

0:e9488589a8ee

Child:

6:6e89cdc3db92

--- a/motor.h	Sun May 07 08:37:22 2017 +0000
+++ b/motor.h	Sun May 14 11:28:29 2017 +0000
@@ -14,6 +14,7 @@
     if ((-motor_target_speed + motor_speed[right]) > accel)  {motor_speed[right] = motor_speed[right] - accel;} // calculate new curent speed
     if ((-motor_speed[right] + motor_target_speed) > accel)  motor_speed[right] = motor_speed[right] + accel; // calculate new curent speed
     if (abs(-motor_target_speed + motor_speed[right]) <= accel)  motor_speed[right] = motor_target_speed;  // calculate new curent speed  
+    motor_speed[right] -= 2*ay; 
     if (right) {if (motor_speed[right] > 0) dir_right = 1; else dir_right = 0;}
     else {if (motor_speed[right] > 0) dir_left = 0; else dir_left = 1;}
     nu_l = abs(motor_speed[right])*500/3.8; //frequency in herz !!!!(cm)
@@ -25,5 +26,5 @@
 void motor_init(){
     step_left = 0.5;   step_right = 0.5;
     motor_enable = 1;
-    skorost(0,0.1); skorost(1,0.1);
+    skorost(0,0.01); skorost(1,0.01);
     }
\ No newline at end of file