Mark Schwarzer / Mbed 2 deprecated Project_OCE360

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Dependencies:   mbed

Diff: main.cpp

Revision:
5:6226f2471fc6
Parent:
4:574998b40bde
Child:
6:f8535633c551
--- a/main.cpp	Thu Dec 03 14:16:03 2020 +0000
+++ b/main.cpp	Thu Dec 03 14:38:54 2020 +0000
@@ -235,6 +235,16 @@
     thruster.period(20.0/1000.00);      // 20 ms period
     thruster.pulsewidth(pw/1000.00);
     thruster2.pulsewidth(pw/1000.00);
+    //Depth Holding
+    while(1) {
+    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(200.0/1000.00);
+            thruster2.pulsewidth(200.0/1000.00);
+            }}
     //PWM will be kept until time out
     while(tt.read()<=on_time)
     {