Diff: Motor.cpp

Revision:

4:56a1159c881c

Parent:

3:dea2df71cb97

Child:

5:3b639d84a95d

--- a/Motor.cpp	Wed Sep 23 06:01:10 2015 +0000
+++ b/Motor.cpp	Fri Oct 30 12:47:35 2015 +0000
@@ -5,6 +5,7 @@
 Motor::Motor(const Motor& m):
     motor(m.Pin[0],m.Pin[1],m.Pin[2],m.Pin[3]),PwmPin(m.Pin[4])
 {
+    bias=0.0;
     max=m.max;
     //this
     PwmPin.period_ms(20);
@@ -27,17 +28,17 @@
 void Motor::run(int i,float duty)
 {
     //static int state;
-    Duty = (float)duty*max;
+    Duty = (float)duty*max+bias;
     //printf("Duty %f \n",(float)duty);
     //if(state==i)return;
-    PwmPin = Duty*Duty;
+    PwmPin = Duty;
     if(state==i)return;
     motor=0;
     //wait_us(20);
     /*t.start();
     t.reset();
     while(t.read_us()>=20);*/
-    wait_us(20);
+    wait_us(200);
     if(i==Front) motor=0x01|0x04;
     else if(i==Back) motor=0x02|0x08;
     else if(i==Stop) motor=0x01|0x08;