From 7085515919c4afd615d350aea21f5d57e014d55c Mon Sep 17 00:00:00 2001
From: Zhaoliang <zhz03@g.ucla.edu>
Date: Sat, 9 Oct 2021 00:17:21 -0700
Subject: [PATCH] add some comments
---
.../feather_main_test_PID_April_Tag.ino | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
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 ae4dc1b..0a1c307 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 )));
--
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