Diff: main.cpp

Revision:

26:7f88907d7c54

Parent:

25:4b893287d750

Child:

27:f2e43189b0f4

diff -r 4b893287d750 -r 7f88907d7c54 main.cpp
--- a/main.cpp	Sat Apr 11 10:43:48 2020 +0000
+++ b/main.cpp	Sat Apr 11 13:44:39 2020 +0000
@@ -297,7 +297,7 @@
 
 void process_melody(std::string input){
 
-    melody_length = 1;
+    melody_length = 0;
     
     for(int i = 0; i < 16; i++){
         notes[i] = 0;
@@ -400,8 +400,10 @@
 
 float get_period(){
     
+    
     int curr_note_length = note_durations[melody_index];
     float curr_note_period = notes[melody_index];
+  
     
     if( note_count >= curr_note_length ){
         
@@ -411,7 +413,10 @@
     else{
         note_count = note_count + 1;
     }
-
+    
+    
+    pc.printf("Period = %f, melody_index = %d, note_count = %d\r\n", curr_note_period, melody_index, note_count);
+    
     return curr_note_period;
 }    
 
@@ -461,7 +466,7 @@
         thread_motorCtrl.signal_wait(0x1);
 
         current_position = get_current_position();
-        //pwm_period = get_period();
+        pwm_period = get_period();
         float current_velocity = get_current_velocity(current_position);
 
         float velocity_error = target_velocity - current_velocity;
@@ -475,9 +480,9 @@
         
         update_lead(velocity_out);
         MotorPWM.period(pwm_period);
-        MotorPWM.write(motor_out);
+        MotorPWM.write(0.6f);
         
-       // pc.printf("Period = %f, melody_index = %d, note_count = %d\r\n", pwm_period, melody_index, note_count);
+       
     }
 }