diff --git a/Code/Feather_Code_Test/feather_main_test_PID_April_Tag/feather_main_test_PID_April_Tag.ino b/Code/Feather_Code_Test/feather_main_test_PID_April_Tag/feather_main_test_PID_April_Tag.ino index ae4dc1b6f3a06ae79dd6ac6540babe7d6b1a7417..0a1c307ea29eabd4231c881454e824e0cbd74b29 100644 --- a/Code/Feather_Code_Test/feather_main_test_PID_April_Tag/feather_main_test_PID_April_Tag.ino +++ b/Code/Feather_Code_Test/feather_main_test_PID_April_Tag/feather_main_test_PID_April_Tag.ino @@ -170,7 +170,7 @@ void moveVertical(int vel){ // changed motorVertical_L->setSpeed(abs((int) vel)); motorVertical_R->setSpeed(abs((int) vel)); - motorVertical_L->run(BACKWARD); + motorVertical_L->run(BACKWARD); motorVertical_R->run(FORWARD); // changed } else if(vel < 0) { //down @@ -198,14 +198,14 @@ void moveHorizontal(int vel_hori,int base_speed){ int rspeed = vel_hori + base_speed; if (lspeed > 0){ - motorLeft->run(BACKWARD); + motorLeft->run(BACKWARD); // make it move forward } else { - motorLeft->run(FORWARD); + motorLeft->run(FORWARD); } if (rspeed > 0){ - motorRight-> run(FORWARD); + motorRight-> run(FORWARD); } else { - motorRight-> run(BACKWARD); + motorRight-> run(BACKWARD); // make it move backward } displaySpeed(lspeed, rspeed); motorLeft->setSpeed(min(MAX_SPEED, abs(lspeed )));