TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

Ironcup Mar 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Files at this revision

API Documentation at this revision

Revision 3:e213c44a9f6c, committed 2016-04-11

Comitter:
drelliak
Date:
Mon Apr 11 21:24:52 2016 +0000
Parent:
2:fd19f7f45e83
Child:
4:8ead8ada8a8b
Child:
5:b0af0cfb678e
Commit message:
Added a brake constant

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Apr 11 05:51:34 2016 +0000
+++ b/main.cpp	Mon Apr 11 21:24:52 2016 +0000
@@ -1,4 +1,3 @@
-// Teste de alteracao
 #include "FXAS21002.h"
 #include "FXOS8700Q.h"  
 #include "mbed.h"
@@ -12,6 +11,7 @@
 #define INITIAL_I 5.45748932024049
 #define INITIAL_D 0.000233453623255507
 #define INITIAL_N 51.0605584484153
+#define BRAKE_CONSTANT 30
 #define GYRO_OFFSET 0.0152
 #define END_THRESH 4
 #define START_THRESH 10
@@ -183,9 +183,9 @@
 /* Brake function, braking while the gyroscope is still integrating will cause considerably error in the measurement. */
 void brakeMotor(){
     if(velocity > 0)
-        setMotorPWM(-30, motor);
+        setMotorPWM(-BRAKE_CONSTANT, motor);
     else if(velocity < 0)
-        setMotorPWM(30, motor);
+        setMotorPWM(BRAKE_CONSTANT, motor);
     wait(0.5);
     setMotorPWM(0,motor);
 }