Diff: tasks/task_group2.cpp

Revision:

20:202e0046527e

Parent:

19:2044bb5d7f29

--- a/tasks/task_group2.cpp	Wed Mar 28 01:32:01 2018 +0000
+++ b/tasks/task_group2.cpp	Wed Mar 28 14:34:34 2018 +0000
@@ -8,7 +8,7 @@
     static inline void hotLoop(){
         runTimeParams::liveAccess.lock();
         runTimeParams::brakeForce = brake.read();
-        runTimeParams::accelForce = brake.read();
+        runTimeParams::accelForce = accel.read();
         runTimeParams::liveAccess.unlock();
     }
 }
@@ -43,9 +43,11 @@
         const int i_prev = i;
         i = (i>=3)? 0: i+1;
         //Store to speed array in round robin format
-        float tmpSpeed = accel * + runTimeParams::speed[i_prev];
-        runTimeParams::speed[i] = (tmpSpeed>0)?tmpSpeed:0;
-        
+        float tmpSpeed = accel + runTimeParams::speed[i_prev];
+        tmpSpeed = (tmpSpeed>0)?tmpSpeed:0;
+        tmpSpeed = (tmpSpeed>200)?200:tmpSpeed;
+        runTimeParams::speed[i] = tmpSpeed;
+        runTimeParams::odometer += tmpSpeed*0.01f;
         runTimeParams::liveAccess.unlock();
         }
 }