File content as of revision 0:e9488589a8ee:

Ticker rt_ticker;



float tm_speed;

void realtime(){
    //myled = !myled;
    
    current_path += (motor_speed[1]+motor_speed[0])/2*0.05;
    current_angle += (motor_speed[0]-motor_speed[1])*0.05/16*57.3;//deg
    
    //pc.printf("%3.1f - %3.1f ; %3.1f - %3.1f ; %d\n",target_path,current_path,target_angle,current_angle,motor_busy);
    if(motor_busy == 1) {
        if(stop_flag == 1) {skorost(0,0);skorost(1,0);if(abs(motor_speed[0])<1) motor_busy = 0;}
        else {
            if(angle_task == 1) {//radial motion
                if((angle_dir == 1) && (target_angle <= current_angle)) motor_busy = 0;
                if((angle_dir == 0) && (target_angle >= current_angle)) motor_busy = 0;
                if(motor_busy == 1) {
                    if(radius > 1) {
                        if((angle_dir == 1) && (speed>0) || (angle_dir == 0) && (speed<0)){
                            skorost(1,speed*(1-half_width/radius));skorost(0,speed*(1+half_width/radius));} 
                        else {skorost(1,speed*(1+half_width/radius));skorost(0,speed*(1-half_width/radius));}} 
                    else {if(angle_dir == 1){skorost(1,-speed); skorost(0,speed);} else {skorost(1,speed); skorost(0,-speed);}
                        }
                    }
                } 
            if(angle_task == 0) {//linear motion
                if((path_dir == 1) && (target_path <= current_path)) motor_busy = 0;
                if((path_dir == 0) && (target_path >= current_path)) motor_busy = 0;
                if(motor_busy == 1) {if(path_dir == 1) {skorost(1,speed);skorost(0,speed);} else{skorost(1,-speed);skorost(0,-speed);} }
                }
            }
       }     
    
    echo_step();
    
    pc.printf("%d \n", proc_counter); proc_counter = 0;
  }
  
void realtime_init(){
    rt_ticker.attach_us(&realtime, 50000);
    }