Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

Diff: EncoderMotor.cpp

Revision:
14:4143ddddef1b
Parent:
13:dc5f5f19e4e8
Child:
16:4161d7af6b5a
--- a/EncoderMotor.cpp	Tue Apr 12 13:25:01 2016 +0000
+++ b/EncoderMotor.cpp	Tue Apr 12 13:38:06 2016 +0000
@@ -29,12 +29,10 @@
 
 void EncoderMotor::tick()
 {
-    long count = encoder.getCount();
-    
-    float errorRot = setRot - count / 600.f;
+    float errorRot = setRot - encoder.getTurn();
     drive(turnPID.step(errorRot));
     
-    float error = setPower - speedSmoother.smooth(encoder.getSpeed());
+    float error = setPower - speedSmoother.smooth(encoder.getTurnSpeed());
     out = speedPID.step(error);
     Motor::drive(out);
 }
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