Mark Schwarzer / Mbed 2 deprecated Project_OCE360

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Dependencies:   mbed

Diff: main.cpp

Revision:
10:02584efdaa39
Parent:
9:120ab4a494ec
Child:
11:b62f06b3e398
--- a/main.cpp	Thu Dec 03 15:31:25 2020 +0000
+++ b/main.cpp	Thu Dec 03 15:37:40 2020 +0000
@@ -81,26 +81,28 @@
         ttt.start();
         p_sensor.Barometer_MS5837();
         //Depth Holding
-    if (p_sensor.depth()>2.0) {
-        thruster.pulsewidth(1.0/1000.00);
-        thruster2.pulsewidth(1.0/1000.00);
+        if (p_sensor.depth()>2.0) {
+            thruster.pulsewidth(1.0/1000.00);
+            thruster2.pulsewidth(1.0/1000.00);
         }
         else if(p_sensor.depth()<2.0) {
             thruster.pulsewidth(1.6/1000.00);
             thruster2.pulsewidth(1.6/1000.00);
-            }
-            else if(p_sensor.depth()==2.0) {
+        }
+        else if(p_sensor.depth()==2.0) {
             thruster.pulsewidth(1.3/1000.00);
             thruster2.pulsewidth(1.3/1000.00);
-                }
-        while(ttt.read()>=180)
-        {   
+        }
     }
+    while(ttt.read()>=180)
+    {   
+    
             //stop the timer
             ttt.stop();
             //turn off the thruster
             thruster.pulsewidth(1.0/1000.00);
             thruster2.pulsewidth(1.0/1000.00);
+    }
  /*
         printf("Pressure: "); 
         printf("%f",p_sensor.MS5837_Pressure()); 
@@ -122,7 +124,7 @@
         wait(1);
     }
 
-    }
+    
 
 //-------------Customized functions---------------------------------------------//----------------------------------------
 ///-----------Welcome menu---------------------///