GIU\ZF
Dependencies: MCP23017 WattBob_TextLCD mbed-rtos mbed
Fork of rtos_basic by
Diff: tasks/task_group2.cpp
- Revision:
- 20:202e0046527e
- Parent:
- 19:2044bb5d7f29
diff -r 2044bb5d7f29 -r 202e0046527e tasks/task_group2.cpp --- 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(); } }