Pat McC / thruster

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Revision 5:e0c525588568, committed 2021-04-09

Comitter:
pmmccorkell
Date:
Fri Apr 09 12:16:30 2021 +0000
Parent:
4:d32183587460
Commit message:
adsf

Changed in this revision

thruster.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/thruster.cpp	Fri Apr 09 11:38:56 2021 +0000
+++ b/thruster.cpp	Fri Apr 09 12:16:30 2021 +0000
@@ -17,11 +17,11 @@
 Thruster::Thruster(PinName pin, float dir) : _pwm(pin), _d(dir) {
     _lock=0;            // emergency lockout, default is 0
     _pin=pin;           // PWM pin
+    _period=20.0;        // 2.5ms
+    set_period(_period); // set period to 2.5ms (400Hz)
+    _max=500;           // max PWM value in us
     _base_pw=1.5;       // 1.5ms
     set_pw(_base_pw);   // set PWM to 1.5ms
-    _period=2.5;        // 2.5ms
-    set_period(_period); // set period to 2.5ms (400Hz)
-    _max=150;           // max PWM value in us
     //printf("Thruster: %f\r\n",d);
 }
 
@@ -103,7 +103,7 @@
     }
     else {
         double tolerance_pw=0.001;
-        double target_pw=(_d*speed_pw)+_base_pw;
+        double target_pw=(_d*speed_pw)/1000+_base_pw;
         double current_pw=get_pw();
         double diff_pw=abs(target_pw-current_pw);
         if (diff_pw>tolerance_pw) {