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@@ -65,17 +65,18 @@ void loop() {
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//Refresh and scale raw move values
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move = map(ch2, 1000,2000, -255, 255); //center over zero
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- move = constrain(move, -255, 255); //only pass values whose absolutes are
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- //valid pwm values
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+
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+// turn = map(ch1,1000,2000,-255,255);
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+// turn = constrain(turn, -255, 255);
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turn = map(ch1,1000,2000,-255,255);
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- turn = constrain(turn, -255, 255);
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-
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+ turn = constrain(turn, -move, move);
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+
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//calculate each motor speed
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int speeds[2] = {0, 0} ;
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int dirs[2] = {0, 0} ;
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if (turn>0) { speeds[0] = move; speeds[1] = move - turn; }
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- else {speeds[0] = move-turn; speeds[1] = move ;}
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+ else {turn=abs(turn); speeds[0] = move-turn; speeds[1] = move ;}
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//apply to driver
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for(int i =0; i<2; i++) {
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