fork of what I have been writing

Dependencies:   Crypto

Revision:
13:f6e37c21d31d
Parent:
12:38afe92e67d0
--- a/ES_CW2_Starter_STARFISH/MotorControl.h	Mon Mar 09 15:02:47 2020 +0000
+++ b/ES_CW2_Starter_STARFISH/MotorControl.h	Mon Mar 09 17:19:39 2020 +0000
@@ -57,7 +57,6 @@
 const float kd_pos = 0;
 const float pwm_period  =0.25f;
 
-int target_velocity = 30;
 float target_position = 500;
 
 // GLOBAL VARIABLES MOTOR //
@@ -223,8 +222,9 @@
     }
 }
 
-void motorCtrlFn()
+void motorCtrlFn( float* NewSpeed)
 {
+    float target_velocity = *NewSpeed;
     // motor controller variables
     float current_position = 0;
     int previous_position = 0;
@@ -233,6 +233,7 @@
     uint32_t last_time_MtrCtlr;
     float pos_error_old;
     int i = 0;
+    
 
     float velocity_integral=0;
     float velocity_derivative=0;