![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
Diff: main_processing/strategy/strategy.cpp
- Revision:
- 36:50092d488f78
- Parent:
- 35:a0421268ee95
- Child:
- 37:ae5661306900
diff -r a0421268ee95 -r 50092d488f78 main_processing/strategy/strategy.cpp --- a/main_processing/strategy/strategy.cpp Tue Feb 02 11:28:15 2016 +0000 +++ b/main_processing/strategy/strategy.cpp Wed Feb 03 07:46:32 2016 +0000 @@ -116,11 +116,20 @@ LineStop[Y_AXIS] = LineDir[C_SPOT]*LineDir[AB_SPOT]; //Ir + //strict + /* IrRange[A_SPOT] = ((18<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=10)) ||((6<=data.irPosition)&&(data.irPosition<=7))||(( 1)&&(data.irPosition<=1)); IrRange[B_SPOT] = ((12<=data.irPosition)&&(data.irPosition<=16))||((2<=data.irPosition)&&(data.irPosition<=5)); IrRange[C_SPOT] = ((15<=data.irPosition)&&(data.irPosition<=19))||((4<=data.irPosition)&&(data.irPosition<=7)); IrRange[AB_SPOT] = ((9<=data.irPosition)&&(data.irPosition<=13))||(( 1)&&(data.irPosition<=3)); + */ + //sweet + IrRange[A_SPOT] = ((19<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=9)) + ||((6<=data.irPosition)&&(data.irPosition<=7))||(( 1)&&(data.irPosition<=1)); + IrRange[B_SPOT] = ((13<=data.irPosition)&&(data.irPosition<=15))||((2<=data.irPosition)&&(data.irPosition<=5)); + IrRange[C_SPOT] = ((16<=data.irPosition)&&(data.irPosition<=18))||((4<=data.irPosition)&&(data.irPosition<=7)); + IrRange[AB_SPOT] = ((10<=data.irPosition)&&(data.irPosition<=12))||(( 1)&&(data.irPosition<=3)); LinePulse[A_SPOT] = ((IrRange[A_SPOT]==1)&&(LineDir[A_SPOT]==0)); @@ -159,6 +168,12 @@ vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)), vs ); + /* + move( + vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)), + vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)), + vs + );*/ if(data.MotorFlag==1){ tx_motor(); data.MotorFlag=0;