void motor2SetSpeed(int speed)
{
speed = limitSpeedMax(speed);
// if ((speed<1) && (speed> -1)) motor2Forward(0); // Break by putting both H-Bridge sides High
if (speed >=0) motor2Forward(speed);
if (speed <0) motor2Reverse(-speed);
}
int main(void)
{
pinIO();
serialSetupUSB();
serialSetupP2P();
timerSetup();
//pwmSetup();
setupA2D();
motorSetup();
encSetup();
int motor1;
//int motor1speed = 200;
int motor2speed = 200;
char targetVelocity1 = 0;
char currentVelocity;
float pop;
char error = 0;
//infinete loop in which we count
while(1)
{
//currentVelocity = velocityGet();
motor1 = motorSet(39);
motor1 = 200;
//targetVelocity1 = 30;
//error = targetVelocity1 - currentVelocity;
//int test
/* if (currentVelocity > targetVelocity1)
{
if(motor1speed > 0)
{
motor1speed -=2;
} else {
motor1speed = 0;
}
} else if (currentVelocity < targetVelocity1)
{
if(motor1speed < 798)
{
motor1speed +=2;
} else {
motor1speed = 798;
}
//motor1speed = 798*(float)(1-(float)(currentVelocity / targetVelocity1));
}*/
motor1Forward(motor1);
motor2Forward(motor2speed);
} //remain here forever, never end the main function.
return 0; //we should never really return
}
