Revision 5:bda4be356312, committed 2016-08-05

Comitter:

awatt196

Date:

Fri Aug 05 10:42:10 2016 +0000

Parent:

4:9480e12a2e08

Commit message:

APM version

Changed in this revision

--- a/main.cpp	Thu Jul 21 14:48:35 2016 +0000
+++ b/main.cpp	Fri Aug 05 10:42:10 2016 +0000
@@ -18,11 +18,11 @@
 //**********FIRGELLI**********//
 
 //**********SCREW**********//
-DigitalOut dir(PTC17); //PTE24 not on shield
+DigitalOut dir(PTD2); 
 DigitalOut step(PTD0);
-DigitalOut motor_power(PTB3); //PTB20 not on shield
+DigitalOut motor_power(PTB3); 
 DebounceIn   switch_top(PTC3);       //top limit switch
-DebounceIn   switch_bottom(PTC2);    //bottom limit switch - PTC5 not on shield
+DebounceIn   switch_bottom(PTC2);    //bottom limit switch 
 void motor_power_function(int on_off); //on=1, off=0
 void stop_top();
 void stop_bottom();
@@ -38,7 +38,7 @@
 //**********SEAT**********//
 
 //**********SYSTEM**********// 
-PinDetect reset_switch(PTC16); //PTB18 not on shield
+PinDetect reset_switch(PTC16); 
 //void reset_system(); //resets system in case of fault
 //**********SYSTEM**********//
 
@@ -49,7 +49,7 @@
 {
     pc.printf("extend\r\n");
     extend_timer.start();
-    while(extend_timer.read() < 7)
+    while(extend_timer.read() < 6)
     {
         extend = 1;
         retract = 0;
@@ -65,7 +65,7 @@
 {
     pc.printf("retract\r\n");
     retract_timer.start();
-    while(retract_timer.read() < 7)
+    while(retract_timer.read() < 6)
     {
         extend = 0;
         retract = 1;
@@ -91,7 +91,7 @@
     }
     else
     {
-        sitting = false; //person is sitting, therfore stop movement of steering wheel
+        sitting = false; //person is sitting, therefore stop movement of steering wheel
         //change to true
     }
     
@@ -121,7 +121,7 @@
     pc.printf("stop_top\r\n");
     step=0;
     motor_power_function(0);
-    wait(2);
+    wait(0.5);
     extend_actuator(); //extend actuator once the gantry reaches the top
 }
 
@@ -218,7 +218,7 @@
     printf("switch_top = %d\r\n", switch_top.read());
     printf("switch_bottom = %d\r\n", switch_bottom.read());
     
-    //initial check to put steering wheel in retracted position
+    //initial check to put steering wheel in deployed position
     printf("Checking initial state...\r\n");
     printf("Initial state is ");
     if (switch_top == 1)