Diff: motors/motors.cpp

Revision:

22:7ba09c0af0d0

Parent:

2:cffa347bb943

Child:

23:1901cb6d0d95

--- a/motors/motors.cpp	Tue May 01 16:54:44 2012 +0000
+++ b/motors/motors.cpp	Thu May 03 14:20:04 2012 +0000
@@ -25,7 +25,8 @@
         Encoder2 (p27, p28, NC, 1856 ,QEI::X4_ENCODING),    //connects to motor2 quadracture encoders
         Motor1A(p17), Motor1B(p18), Motor2A(p19), Motor2B(p13), //connects to direction pins
         Motor1Enable(p25), Motor2Enable(p26),   //Connects to control board enable pins to control motors speeds. PWM pins. Remember enable must be set before the direction pins changed!!
-        PIDControllerMotor1(3.5, 0.5, 0, 0.010), PIDControllerMotor2(3.5, 0.5, 0, 0.010) {
+        //PIDControllerMotor1(2.25, 0.3, 0.00001, 0.010), PIDControllerMotor2(2.25, 0.3, 0.00001, 0.010) 
+         PIDControllerMotor1(3.5, 0.5, 0.0, 0.010), PIDControllerMotor2(3.5, 0.5, 0.0, 0.010){
 
 //Initialise PID controllers
     PIDControllerMotor1.setMode(MANUAL_MODE);
@@ -307,16 +308,18 @@
         Motor1B = 0;
         //pwm the h bridge driver range 0 to 1 type float.
 
-    } else if (speed1 < 0) {
+    } else if (speed1 <= 0) {
         //Motor1 backwards
         Motor1Enable = (float)abs(speed1)/127;
         Motor1A = 0;
         Motor1B = 1;
 
-    } else if (speed1 ==0) {
+    } 
+    /*
+    else if (speed1 ==0) {
         _stop(1,0);
     }
-
+    */
     if (speed2 > 0) {
         //Motor2 forwards
         Motor2Enable = (float)speed2/127;
@@ -324,14 +327,17 @@
         Motor2A = 1;
         Motor2B = 0;
 
-    } else if (speed2 < 0) {
+    } else if (speed2 <= 0) {
         //Motor2 backwards
         Motor2Enable = (float)abs(speed2)/127;
         Motor2A = 0;
         Motor2B = 1;
-    } else if (speed2 == 0) {
+    } 
+    /*
+    else if (speed2 == 0) {
         _stop(0,1);
     }
+    */
 
 }