Diff: main.cpp

Revision:

6:6f3ffd97d808

Parent:

5:f007542f1dab

Child:

7:f3f94eadc5b5

--- a/main.cpp	Sat Apr 02 12:40:04 2016 +0000
+++ b/main.cpp	Sat Apr 02 13:13:41 2016 +0000
@@ -13,20 +13,15 @@
 
 Serial pc(USBTX, USBRX);
 
-// pwm outputs for the 4 motors
+// pwm outputs for the 4 motors (motor 1 points into x direction, 2 into y direction, 3 -x direction, -y direction
 PwmOut motor_1(p21);
 PwmOut motor_2(p22);
 PwmOut motor_3(p23);
 PwmOut motor_4(p24);
 
-
-
-
-
-
 int main()
 {
-    control result;
+    control result; 
     offset offset_gyro;
 
     initSensors(accel, mag, gyro,offset_gyro);
@@ -36,10 +31,10 @@
     sensors_event_t gyro_event;
     sensors_vec_t   orientation;
 
-    motor_1.period(0.002);          // servo requires a 2ms period
-    motor_2.period(0.002);          // servo requires a 2ms period
-    motor_3.period(0.002);          // servo requires a 2ms period
-    motor_4.period(0.002);          // servo requires a 2ms period
+    motor_1.period(0.002);          // motor requires a 2ms period
+    motor_2.period(0.002);          // motor requires a 2ms period
+    motor_3.period(0.002);          // motor requires a 2ms period
+    motor_4.period(0.002);          // motor requires a 2ms period
 
 // pwm duty cycles for the 4 motors
     motor_1 = 0;
@@ -48,7 +43,6 @@
     motor_4 = 0;
 
     // startup procedure
-
     pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r");
     char a= pc.getc();
     if (a!='s') {