Gerardo Carmona
/
RobotV1
Robot Competition V1
Diff: main.cpp
- Revision:
- 2:aae3b2c0881c
- Parent:
- 1:1bea5dcd4d6f
--- a/main.cpp Wed Dec 02 23:15:39 2015 +0000 +++ b/main.cpp Thu Dec 17 18:24:42 2015 +0000 @@ -2,7 +2,7 @@ #include "Servo.h" #define MAXVEL 100 // From 100 max -#define SERINC 0.1 // Move micro seconds up/down +#define SERINC 100 // Move micro seconds up/down DigitalOut myled(LED1); @@ -30,6 +30,7 @@ c = bt.getc(); pc.printf("Received: %c\n\r", c); decodeInstruction(c); + printf("%c\n", c); } } @@ -88,11 +89,12 @@ } void moveServo(int increment){ - pc.printf("%f\n\r", SARM); - if (increment < 0 && SARM >= abs(increment)){ - SARM = SARM + increment; - }else if (increment > 0 && SARM <= 1 - abs(increment)){ - SARM = SARM + increment; + float temp = 0.0; + temp = (float)increment / 100.0; + if (temp < 0 && SARM >= abs(temp)){ + SARM = SARM + temp; + }else if (temp > 0 && SARM <= 1 - abs(temp)){ + SARM = SARM + temp; } }