Rachel Ireland-Jones / Mbed OS FinalYear0

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Diff: main.cpp

Revision:
20:c89685cd0b02
Parent:
19:d3b82416df50
Child:
21:d553c43a5a26
--- a/main.cpp	Mon Dec 09 16:41:10 2019 +0000
+++ b/main.cpp	Tue Dec 10 10:51:17 2019 +0000
@@ -93,11 +93,11 @@
         float TA1 = 2.0f * (tA1[1]-tA1[0]);
         float TA2 = 2.0f * (tA2[1]-tA2[0]);
         float TA = (TA1 + TA2) * 0.5f;
-        trav = (175.9/20.8);
+        trav = (20.8*countA);
         float fA = 1.0f/ (TA *(float)3.0E-6);
         speedA = fA/20.8;
-        terminal.printf("WheelA: %6.2f \t WheelB: %6.2f \t trav: %d\n", speedA, speedB, countA);
-        if(countA >=21){
+        terminal.printf("WheelA: %6.2f \t WheelB: %6.2f \t pulses: %d \t trav: %6.2f\n", speedA, speedB, countA, trav);
+        if(countA >=48){
             PWMA.write(0.0f);
             PWMB.write(0.0f);
             wait(10000);
@@ -194,8 +194,8 @@
     //Wait - give time to start running
     wait(1.0);
     //Set initial motor speed to stop
-    PWMA.write(0.5f);          //Set duty cycle (%)
-    PWMB.write(0.5f);          //Set duty cycle (%)
+    PWMA.write(1.0f);          //Set duty cycle (%)
+    PWMB.write(1.0f);          //Set duty cycle (%)
 
     //Main polling loop
     while(1)