Mark Schwarzer
/
Project_OCE360
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Revision 16:54c15eaadf88, committed 2020-12-10
- Comitter:
- jrschaedler
- Date:
- Thu Dec 10 14:09:58 2020 +0000
- Parent:
- 14:dc84c793b8b5
- Commit message:
- final test?
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Dec 08 03:14:00 2020 +0000
+++ b/main.cpp Thu Dec 10 14:09:58 2020 +0000
@@ -83,16 +83,19 @@
p_sensor.Barometer_MS5837();
//Depth Holding
if (p_sensor.depth()>2.0) {
- thruster.pulsewidth(1.1/1000.00);
- thruster2.pulsewidth(1.1/1000.00);
+ pw = 1.1;
+ thruster.pulsewidth(pw/1000.00);
+ thruster2.pulsewidth(pw/1000.00);
}
else if(p_sensor.depth()<2.0) {
- thruster.pulsewidth(1.5/1000.00);
- thruster2.pulsewidth(1.5/1000.00);
+ pw = 1.5;
+ thruster.pulsewidth(pw/1000.00);
+ thruster2.pulsewidth(pw/1000.00);
}
else if(p_sensor.depth()==2.0) {
- thruster.pulsewidth(1.3/1000.00);
- thruster2.pulsewidth(1.3/1000.00);
+ pw = 1.3;
+ thruster.pulsewidth(pw/1000.00);
+ thruster2.pulsewidth(pw/1000.00);
}
if (ttt.read()>=180)
@@ -101,8 +104,9 @@
//stop the timer
ttt.stop();
//turn off the thruster
- thruster.pulsewidth(1.0/1000.00);
- thruster2.pulsewidth(1.0/1000.00);
+ pw = 1.0;
+ thruster.pulsewidth(pw/1000.00);
+ thruster2.pulsewidth(pw/1000.00);
}
/*
printf("Pressure: ");
