Diff: main.cpp

Revision:

7:b3cc3dd22f55

Parent:

6:f8535633c551

Child:

8:7f970fcf1a16

--- a/main.cpp	Thu Dec 03 14:41:25 2020 +0000
+++ b/main.cpp	Thu Dec 03 14:50:58 2020 +0000
@@ -77,7 +77,16 @@
     while(1)
     { 
         p_sensor.Barometer_MS5837();
- 
+        //Depth Holding
+    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);
+            }
+ /*
         printf("Pressure: "); 
         printf("%f",p_sensor.MS5837_Pressure()); 
         printf(" mbar");
@@ -93,7 +102,7 @@
         printf("Altitude: "); 
         printf("%f",p_sensor.altitude()); 
         printf(" m above mean sea level\r\n");
-        
+*/       
         myled=!myled;
         wait(1);
     }
@@ -235,15 +244,6 @@
     thruster.period(20.0/1000.00);      // 20 ms period
     thruster.pulsewidth(pw/1000.00);
     thruster2.pulsewidth(pw/1000.00);
-    //Depth Holding
-    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)
     {