Diff: main.cpp

Revision:

3:3e8bf06dfa83

Parent:

2:162fcc97fc52

--- a/main.cpp	Wed Mar 30 08:30:58 2016 +0000
+++ b/main.cpp	Mon Apr 04 09:52:21 2016 +0000
@@ -45,7 +45,7 @@
 int main()
 {
     pc.baud(115200);
-    motor.period_ms(1);
+    motor.period_us(1000000/490);
     float speed = 0.0;   
     
     while(1)
@@ -76,12 +76,12 @@
                     {
                         if( strcmp(rcvBuf,forward) == 0 )
                         {
-                            speed = speed + 0.05;   
+                            speed = speed + 0.01;   
                             printf("forward\r\n");
                         }
                         else if( strcmp(rcvBuf,back) == 0 )
                         {
-                            speed = speed - 0.05;
+                            speed = speed - 0.01;
                             printf("back\r\n");
                         }
                         else if( strcmp(rcvBuf,left) == 0 )
@@ -101,7 +101,7 @@
                             printf("stop\r\n");
                         }
                         
-                        if( speed < 0.0 ) speed = 0.0;
+                        if( speed < 0.55 ) speed = 0.55;
                         else if ( speed > 1.0 ) speed = 1.0;
                         printf("speed %.3f\r\n", speed);
                         motor.write(speed);