cube
Dependencies: BNO055_fusion_tom FastPWM mbed
Diff: main.cpp
- Revision:
- 19:3118e8e60182
- Parent:
- 18:6f120b374991
- Child:
- 20:79c99bbf6dd7
diff -r 6f120b374991 -r 3118e8e60182 main.cpp --- a/main.cpp Tue Apr 11 02:02:01 2017 +0000 +++ b/main.cpp Tue Apr 11 02:23:17 2017 +0000 @@ -42,7 +42,7 @@ void pwmupdate() { - myled = !myled; + //myled = !myled; wv = I1.read(); // Converts and read the analog input value (value from 0.0 to 1.0) wv = (wv-2.0)*5000.0; // Scale the velocity to rad/s @@ -50,15 +50,19 @@ r1 = (Kbt*bt + Kbv*velocity.z + Kwv*wv); - r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output + //Limit PWM range -// if (r1 > 1.0) { -// r1 = 1.0; -// } - if (r1 < 0.0) { - r1 = 0.0; + if (r1 > 6.0) { + r1 = 6.0; } + + if (r1 < -6.0) { + r1 = -6.0; + } + + r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output + P1 = r1; //P2 = (euler_angles.r/360.0); //P3 = (euler_angles.p/360.0); @@ -71,12 +75,13 @@ if(!isPressed) { pwmint.attach(&pwmupdate, .005); EN1 = 1; + myled = 1; isPressed=1; } else { pwmint.detach(); P1 = 0.0; - r1 = -1.0; + bt = 0.0; myled = 0; EN1 = 0; //P2 = 0;