Diff: motor.cpp

Branch:

testing

Revision:

10:f4fc8ccde4ad

Parent:

9:22b119eef1de

Child:

11:4a6f97cc1f1e

--- a/motor.cpp	Mon Nov 07 16:37:58 2016 +0000
+++ b/motor.cpp	Fri Nov 11 12:50:48 2016 +0000
@@ -33,7 +33,9 @@
 //need a function for calcu;lating the angle
 //need a function for converting w1 to delta. or do i?
  
-    
+//----------------------------------------------------------------------------------------------------------------------------------
+//----------------------------------------------This is for Motor Set up------------------------------------------------------------
+//----------------------------------------------------------------------------------------------------------------------------------  
 
  void   runMotor() /// putting it into this mode for some reason makes a bit of a whinning noise (this may simply just be the motor running)
     {
@@ -75,7 +77,11 @@
         TFC_HBRIDGE_DISABLE;
     return;
     }
-    
+//-----------------------------------------------------------------------------------------------------    
+//------------------------ this is for speed control---------------------------------------------------
+//-----------------------------------------------------------------------------------------------------
+
+
     
 void Acc(float& motorA, float& motorB)// set up so as to control both motors during acc. Potential use during corners
     {
@@ -174,6 +180,24 @@
  //------------------------------------------------Cornering Control-----------------------------------------------------------   
  //----------------------------------------------------------------------------------------------------------------------------   
     
+    
+    
+// this is a function whihc works off of the duty cycle.
+void dutyCycleCorner( float speed,float & w1, float & w2,float  middlePoint)
+{
+        float width;
+        //float radius= center(middlePoint);
+        float radius = 0.6;
+        float w1=(speed/radius)*(radius + width/2);
+        float w2=(speed/radius)*(radius - width/2);
+        
+        TFC_
+        
+        
+        
+ return;       
+}
+        
         
 void corner(float &w1,float &w2,float deltaTheta,int maxspeed)
     {// when cornering left the left motor slows down more than the right hand side