Rob Griffith / Mbed 2 deprecated rat_code

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Dependencies:   mbed QEI

Diff: src/main_controller.cpp

Revision:
3:35deb5c21b33
Parent:
1:6f18bb7a77a5
--- a/src/main_controller.cpp	Thu Nov 15 17:22:50 2018 +0000
+++ b/src/main_controller.cpp	Mon Nov 26 23:50:58 2018 +0000
@@ -32,9 +32,10 @@
      * Set an X goal and W goal correctly! This is discussed in the lecture slides.
      * For help, see example code: pid/drive-straight.cpp
      **/
-    m_pid->setXGoal(10);
-    m_pid->setWGoal(0);
+    m_pid->set_goal_x(3600);
+    m_pid->set_goal_w(0);
     pc.printf("Driving straight\n");
+    while(!m_pid->is_done());
 }
 
 /***
@@ -43,10 +44,10 @@
  * Get your mouse to turn, and drive a specific distance.
  ***/
 void MainController::turn(int deg) {
-    /**
-     * For help, see example code: pid/turning.cpp
-     **/
+    m_pid->set_goal_x(0);
+    m_pid->set_goal_w(4.65*deg);
     pc.printf("Turning %d degrees\n", deg);
+    while(!m_pid->is_done());
 }
 
 void MainController::moveCells(float n) {