Diff: main.cpp

Revision:

5:f007542f1dab

Parent:

4:3040d0f9e8c6

Child:

6:6f3ffd97d808

--- a/main.cpp	Fri Apr 01 18:55:21 2016 +0000
+++ b/main.cpp	Sat Apr 02 12:40:04 2016 +0000
@@ -15,7 +15,7 @@
 
 // pwm outputs for the 4 motors
 PwmOut motor_1(p21);
-PwmOut motor_2(p23);
+PwmOut motor_2(p22);
 PwmOut motor_3(p23);
 PwmOut motor_4(p24);
 
@@ -71,9 +71,6 @@
     pc.printf("Entering control loop\n\r");
 
     while (1) {
-
-
-
         /* Calculate pitch and roll from the raw accelerometer data */
         accel.getEvent(&accel_event);
         if (dof.accelGetOrientation(&accel_event, &orientation)) {
@@ -99,7 +96,7 @@
         gyro_event.gyro.y -= offset_gyro.y_offset;
         gyro_event.gyro.z -= offset_gyro.z_offset;
 
-        wait(0.1);
+        wait(0.01);
 
         // get sensor values
 
@@ -114,8 +111,9 @@
         
         // Set duty cycle
         // continue looking what pwm is. 
-        motor_2=50+result.M_x;
-        motor_4=50-result.M_x;
+
+        motor_2=0.6+result.M_x/100;
+        motor_4=0.6-result.M_x/100;
 
 
         // plot