Diff: main.cpp

Revision:

33:65cfa4b72195

Parent:

32:1f81f3e83889

Child:

36:1561b6d61095

--- a/main.cpp	Tue Feb 02 01:31:15 2016 +0000
+++ b/main.cpp	Wed Feb 03 14:23:47 2016 +0000
@@ -32,7 +32,7 @@
 //-- Communication --
 Serial PC(D1,D0);
 Bear_Receiver com(Tx,Rx,1000000);
-int16_t MY_ID = 0x02;
+int16_t MY_ID = 0x01;
 //-- Memorry --
 EEPROM memory(PB_4,PA_8,0);
 uint8_t UpMargin[4];
@@ -102,11 +102,18 @@
         253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190,
         254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95
     };
-
-    while(Val != codes[i]) {
-        i++;
+    if ( MY_ID == 0x01 )//when it was left side
+    {
+        while(Val != codes[i]) {
+            i++;
+            }
     }
-
+    if ( MY_ID == 0x02 )//when it was right side
+    {
+        while(Val != codes[127-i]) {
+            i++;
+            }
+    }
     return i;
 
 }
@@ -746,9 +753,12 @@
         Up_PID.setSetPoint(Upper_SetPoint);
         Low_PID.setSetPoint(Lower_SetPoint);
 
+        Read_Encoder(EncoderB);
+        Lower_Position = Get_EnValue(data);
+        PC.printf("position = %2f\n",Lower_Position);
         //Control Motor
-        Move_Upper();
-        Move_Lower();
+        //Move_Upper();
+        //Move_Lower();
 /////////////////////////////////////////////////////  stop =306us
         //uint8_t aaa[1]={10};
         //com.sendBodyWidth(0x01,aaa);