Diff: motor.cpp

Branch:

testing

Revision:

8:4df2a47ab4ee

Parent:

7:9aaa4f73bb32

Child:

9:22b119eef1de

--- a/motor.cpp	Mon Nov 07 16:00:45 2016 +0000
+++ b/motor.cpp	Mon Nov 07 16:12:48 2016 +0000
@@ -15,9 +15,8 @@
 
 //Corner Control
 
-void PWM_cornerCntrl(bool a,float pwmRatio);
-void cornerLeft(float speed);
-void cornerRight(float speed);
+
+void corner(float &w1,float &w2,float deltaTheta,int maxspeed)
 
 void steering(float center, float theta, int maxspeed);
 
@@ -131,58 +130,14 @@
         }
         return;
     }
-
-void PWM_cornerCntrl(bool a,float pwmRatio)
-    {
-        //A is the Right motor B is the left motor.
-        // may need the value of speed to decelerate.
-        if(a==1)//turn left
-        {
-            cornerLeft(pwmRatio);
-        }
-        
-        else//turn right
-        {
-               cornerRight(pwmRatio);
-        }
-     return;   
-    }
-    
-    
     
     
-void cornerLeft(float speed)
-    {// when cornering left the left motor slows down more than the right hand side
-    // may just replace with ACC and DECC
-    
-    // it may be worth doing this off the change in theta. so that it is insesnsitive to the calibration.
-    float diff = speed*cornerPwmControl;
-    float w1 = speed + diff;
-    float w2 = speed-diff;
-    TFC_SetMotorPWM(w2,w1); //temperary values
-        
-    
-    
+ //----------------------------------------------------------------------------------------------------------------------------   
+ //------------------------------------------------Cornering Control-----------------------------------------------------------   
+ //----------------------------------------------------------------------------------------------------------------------------   
     
         
-     
-     
-     return;   
-    }
-    
-void cornerRight(float speed)
-    {   // may need to put deceleration control within here.
-        // may just replace with ACC and DECC
-        float diff = speed*cornerPwmControl;
-        float w1 = speed + diff;
-        float w2 = speed-diff;
-        TFC_SetMotorPWM(w1,w2); //temperary values
-        
-     return;   
-    }
-    
-    
-void deltaCornerLeft(float speed,float deltaTheta)
+void corner(float &w1,float &w2,float deltaTheta,int maxspeed)
     {// when cornering left the left motor slows down more than the right hand side
     // may just replace with ACC and DECC
     float r;
@@ -191,12 +146,10 @@
     // it may be worth doing this off the change in theta. so that it is insesnsitive to the calibration.
     float diff= ((d*tan(deltaTheta)/(2*l)));
     
-    float w1 = (speed/r)*(1+diff);
-    float w2 = (speed/r)*(1-diff);
+    float w1 = (maxspeed/r)*(1+diff);
+    float w2 = (maxspeed/r)*(1-diff);
     
-    // when there is a speed sensor tghe conversion will be much more simplistic. this is basically just guessing.
-    // need to convert w1 to the duty cycle
-    TFC_SetMotorPWM(w2,w1); //temperary values
+    
         
         
      return;   
@@ -212,13 +165,16 @@
     return center;
 }
 
-void steering(float center, float theta, int maxspeed,float w1, float w2)
-{
+void steering(float center, float theta, int maxspeed,float & w1, float & w2)
+{   // this function is for simply calculating the motor speeds. this reduces the amount of calculations needed 
+    //and can be triggered when the car steers.
+    
+    
     float deltaTheta =  center- theta;
     if(deltaTheta <0)
     {
         // going left?
-        corner(w1,w2,deltaTheta);
+        corner(w1,w2,deltaTheta,maxspeed);
     }
     
     else()