Diff: main.cpp

Revision:

7:6a99be179329

Parent:

6:8d80c84e0c09

Child:

8:8d30ce9a9463

--- a/main.cpp	Thu Jul 16 08:38:19 2015 +0000
+++ b/main.cpp	Fri Jul 17 07:11:46 2015 +0000
@@ -234,17 +234,17 @@
     }
     */
 
-      while(1) {
-    //calibration
-    pc.printf("Welcome to DOGWHEELSCHAIR\n");
-    pc.printf("Calibration [START]\n");
-    calibration(1);
-    calibration(2);
-    calibration(3);
-    calibration(4);
-    pc.printf("Calibration [FINISH]\n");
-    pc.printf("RUN mode [START]\n");
-       }
+    while(1) {
+        //calibration
+        pc.printf("Welcome to DOGWHEELSCHAIR\n");
+        pc.printf("Calibration [START]\n");
+        calibration(1);
+        calibration(2);
+        calibration(3);
+        calibration(4);
+        pc.printf("Calibration [FINISH]\n");
+        pc.printf("RUN mode [START]\n");
+    }
 
     Update_command.attach(&getCommand,TIMER_UPDATE);
 
@@ -526,9 +526,9 @@
         case 2:
 
             pc.printf("motor[2] run up\n");
-            do{
+            do {
                 motor_set(id,1);
-            }while(sw_LL_U==0) ;
+            } while(sw_LL_U==0) ;
             motor_stop(id);
             wait_ms(500);
             pc.printf("motor[2] stop up\n");
@@ -540,9 +540,9 @@
             max_pos_LL = position_LL.read_u16();
             pc.printf("max_pos_LL= %d\n",max_pos_LL);
             pc.printf("motor[2] run down\n");
-            do{
+            do {
                 motor_set(id,2);
-            }while(sw_LL_D==0) ;
+            } while(sw_LL_D==0) ;
             motor_stop(id);
             wait_ms(500);
             pc.printf("motor[2] stop down\n");
@@ -560,14 +560,13 @@
             pc.printf("motor[3] run up\n");
             do {
                 motor_set(id,1);
-            }while(sw_RU_U==0);
+            } while(sw_RU_U==0);
             motor_stop(id);
             wait_ms(500);
             pc.printf("motor[3] stop up\n");
 
             do {
                 motor_set(id,2);
-
             } while(sw_RU_U);
             motor_stop(id);
             wait_ms(500);
@@ -576,20 +575,13 @@
 
             pc.printf("motor[3] run down\n");
 
-            /*while(count >1) {
+            do {
                 motor_set(id,2);
-                if(sw_RU_D)
-                {
-                    count--;
-                }
-            }*/
-            do {
-
-                motor_set(id,2);
-            }while(sw_RU_D==0);
+            } while(sw_RU_D==0);
             motor_stop(id);
             wait_ms(500);
             pc.printf("motor[3] stop down\n");
+            
             do {
                 motor_set(id,1);
             } while(sw_RU_D);
@@ -604,7 +596,7 @@
             pc.printf("motor[4] run up\n");
             do {
                 motor_set(id,1);
-            }while(sw_RL_U==0);
+            } while(sw_RL_U==0);
             motor_stop(id);
             wait_ms(500);
             pc.printf("motor[4] stop up\n");
@@ -616,9 +608,9 @@
             max_pos_RL = position_RL.read_u16();
             pc.printf("max_pos_RL= %d\n",max_pos_RL);
             pc.printf("motor[4] run down\n");
-            do{
+            do {
                 motor_set(id,2);
-            }while(sw_RL_D==0);
+            } while(sw_RL_D==0);
             motor_stop(id);
             wait_ms(500);
             pc.printf("motor[4] stop down\n");
@@ -657,7 +649,7 @@
 
     uint8_t status = pan_a.receiveCommunicatePacket(&packet);
     myled=0;
-    
+
 
 
     if(status == ANDANTE_ERRBIT_NONE) {
@@ -665,7 +657,7 @@
             count--;
         } else {
             count=0;
-            
+
         }
         pan_a.sendCommunicatePacket(&packet);
         //update command
@@ -679,6 +671,6 @@
         //stop robot
         count++;
         myled=1;
-     //   setSpeedControl(0.0);
+        //   setSpeedControl(0.0);
     }
 }
\ No newline at end of file