Diff: PTC3471.cpp

Revision:

11:7c32b75ecff1

Parent:

5:87f427c20e48

Child:

12:321ea73f98db

diff -r 87f427c20e48 -r 7c32b75ecff1 PTC3471.cpp
--- a/PTC3471.cpp	Fri Aug 25 14:22:16 2017 +0000
+++ b/PTC3471.cpp	Thu Sep 15 18:22:58 2022 +0000
@@ -1,16 +1,16 @@
 #include "PTC3471.h"
 #include "mbed.h"
 #include "QEI.h"
-#include "USBSerial.h"
+/////////////////////#include "USBSerial.h"
 
 DigitalOut Ctrl_Status(LED1);
 
 QEI * Ctrl_Encoder_Motor;
 Ticker * Controler_Interrupt;
 
-DigitalOut Ctrl_Direita(PTD6);
+DigitalOut Ctrl_Direita(PTD5);//
 DigitalOut Ctrl_Esquerda(PTC1);
-PwmOut Ctrl_Motor(PTD5);
+PwmOut Ctrl_Motor(PTD6);//
 
 Ticker Ctrl_StatusOk;
 Ticker Ctrl_Trava;
@@ -29,13 +29,13 @@
 void Ctrl_Travar(void){
     Ctrl_LerAngulos();
     
-    if(Ctrl_dPhi>=0.01){
-        Ctrl_Motor = min(2*Ctrl_dPhi, 0.7);
+    if(Ctrl_dPhi>=0.005){
+        Ctrl_Motor = min(1.5*Ctrl_dPhi, 0.15);
         Ctrl_Direita = 1;
         Ctrl_Esquerda = 0;
     }
-    else if(Ctrl_dPhi<=-0.01){
-        Ctrl_Motor = min(-2*Ctrl_dPhi, 0.7);
+    else if(Ctrl_dPhi<=-0.005){
+        Ctrl_Motor = min(-1.5*Ctrl_dPhi, 0.15);
         Ctrl_Direita = 0;
         Ctrl_Esquerda = 1;
     }
@@ -54,7 +54,7 @@
 
 void Ctrl_ChecarTrava(void){
     Ctrl_LerAngulos();
-    if(Ctrl_Phi>LimitAngle || Ctrl_Phi<-LimitAngle){
+    if(Ctrl_Phi>LimitAngle || Ctrl_Phi<-LimitAngle || Ctrl_dPhi > 1.05 || Ctrl_dPhi < -1.05){
         Ctrl_StatusOk.detach();
         Ctrl_Trava.detach();
         Controler_Interrupt->detach();