Diff: main.cpp

Revision:

6:656fb0834a1a

Parent:

5:43aa136aecda

Child:

7:5cbb59d98416

diff -r 43aa136aecda -r 656fb0834a1a main.cpp
--- a/main.cpp	Wed Oct 31 12:44:47 2018 +0000
+++ b/main.cpp	Wed Oct 31 12:45:43 2018 +0000
@@ -57,28 +57,29 @@
     if (current_angle2 - motor_threshold <= last_angle2 && last_angle2 <= current_angle2 + motor_threshold)     // If the motor angle is within a margin of the current motor angle
     {
         time_passed_in_this_state2++;
-        calibLED1 = !calibLED1;                              // LED turns blue
+        calibLED1 = !calibLED1;                              // LED becomes blue
     }
     else
     {
-        motor_angle2 = current_angle2;
-        motor_angle2 = motor_angle2 - 30*motor_threshold;    // Subtracting five degree angle from the current angle
+        motor_angle2 = motor2.get_current_angle();
+        motor_angle2 = motor_angle2 - 5*motor_threshold;    // Subtracting five degree angle from the current angle
         motor2.set_target_angle(motor_angle2); 
         time_passed_in_this_state2 = 0;            // Set time passed in this state back to zero
-        calibLED2 = !calibLED2;                              // LED turns red
+        calibLED2 = !calibLED2;
     }
     
     if (time_passed_in_this_state2 >= 10)           // After 5 seconds have passed (10 times Ticker motor_calib)
     {
         motor2.define_current_angle_as_x_radians(-0.733038); // Defines beginstate motor 2 as -42 degrees
         motor_calib2.detach();                      // Stop looping the function
-        calibLED3 = !calibLED3;                              // LED becomes red (purple if both motors are calibrated)
+        calibLED3 = 0;                              // LED becomes red (purple if both motors are calibrated)
+        wait(0.1f);
+        calibLED3 = !calibLED3;
     }
-
+    
     last_angle2 = current_angle2;
 }
 
-
 int main()
 {
     calibLED1 = 1;