Diff: motor.h

Revision:

15:960b922433d1

Parent:

14:e12d0fdc3a48

Child:

20:e73f49ba5001

--- a/motor.h	Sun Nov 18 13:33:28 2018 +0000
+++ b/motor.h	Sat Dec 01 14:25:04 2018 +0000
@@ -1,11 +1,12 @@
 float motor_speed[2] = {0,0}; //left, right (real exact current speed of each motor for the next raltime slot)  SI
 //float gy_old;
 //float vert;//ugol
-float max_speed = 2;
+float max_speed = 1;
 float max_accel = 5;
+float max_eps = 20;
 
 DigitalOut  dir_left(PC_15);
-DigitalOut  dir_right(PA_2);
+DigitalOut  dir_right(PA_4);
 DigitalOut  motor_enable(PA_0);//sleep inverted
 PwmOut step_left(PB_4);
 PwmOut step_right(PA_1);
@@ -27,10 +28,10 @@
     motor_speed[0] = speed_left;
     motor_speed[1] = speed_right;    
 
-  /*  if (motor_speed[0] > max_speed) motor_speed[0] = max_speed;
-    if (motor_speed[0] < -max_speed) motor_speed[0] = -max_speed;
-    if (motor_speed[1] > max_speed) motor_speed[1] = max_speed;
-    if (motor_speed[1] < -max_speed) motor_speed[1] = -max_speed;*/
+    if (motor_speed[0] > max_speed*2) motor_speed[0] = max_speed*2;
+    if (motor_speed[0] < -max_speed*2) motor_speed[0] = -max_speed*2;
+    if (motor_speed[1] > max_speed*2) motor_speed[1] = max_speed*2;
+    if (motor_speed[1] < -max_speed*2) motor_speed[1] = -max_speed*2;
 
     if (motor_speed[1] > 0) dir_right = 1;
     else dir_right = 0;