Diff: project.cpp

Revision:

10:7475e737bc0f

Parent:

9:b83b9198988d

Child:

11:d55f0cc16089

--- a/project.cpp	Tue Dec 08 22:22:37 2015 +0000
+++ b/project.cpp	Wed Dec 09 02:29:26 2015 +0000
@@ -28,7 +28,7 @@
 DigitalOut m1inA1(PB_13); //Motor 1
 DigitalOut m1inA2(PB_14);
 DigitalOut m1inB1(PB_15);
-DigitalOut m1inB2(PB_1);
+DigitalOut m1inB2(PB_12);
 DigitalOut m2inA1(PB_5); //Motor 2
 DigitalOut m2inA2(A5);
 DigitalOut m2inB1(A4);
@@ -46,7 +46,7 @@
     m1inA2 = 1;
     m1inB1 = 1;
     m1inB2 = 0;
-    wait_ms(50);
+    wait_ms(25);
 }
 void m1step2()
 {
@@ -54,7 +54,7 @@
     m1inA2 = 1;
     m1inB1 = 0;
     m1inB2 = 1;
-    wait_ms(50);
+    wait_ms(25);
 }
 void m1step3()
 {
@@ -62,7 +62,7 @@
     m1inA2 = 0;
     m1inB1 = 0;
     m1inB2 = 1;
-    wait_ms(50);
+    wait_ms(25);
 }
 void m1step4()
 {
@@ -70,7 +70,7 @@
     m1inA2 = 0;
     m1inB1 = 1;
     m1inB2 = 0;
-    wait_ms(50);
+    wait_ms(25);
 }
 void m1stopMotor()
 {
@@ -409,7 +409,7 @@
     float x,y;
     x = X.read()*360;
     y = Y.read()*360;
-    printf("X = %f.2\tY = %f.2\n",x,y);
+  //  printf("X = %f.2\tY = %f.2\n",x,y);
     if(x > 200) {
         Up();
     }
@@ -471,7 +471,7 @@
 {
     for(int c=0; c<9; c++) {
         printf("%d ",data[c]);
-        // if((c+1)%3==0){printf("||");}
+         if((c+1)%3==0){printf("||");}
     }
     printf("\n");
 }
@@ -512,6 +512,14 @@
     compass1.init();
     compass2.init();
     compass3.init();
+    
+    while(1){
+          read(data);
+                    dataprint(data);
+                    wait(0.5);
+                    
+        }
+    
     string NameJune="Natthanicha",recieveNameJune,SurJune="Jamroonpan",recieveSurJune,IdJune="57340500023",recieveIdJune; //June start @ 1-36
     string NameO="Sirawat",recieveNameO,SurO="Sok",recieveSurO,IdO="57340500071",recieveIdO;
     uint8_t UID[8],recieveUID[8];
@@ -557,6 +565,7 @@
     lcd.backlight(ON);
     wait(2);
     lcd.LCD_clear();
+   // servodown();
     while(1) {
         lcd.LCD_write_string(0,0,"SCAN ID CARD",0);
         if ( ! RFID.PICC_IsNewCardPresent()) // Look for new cards
@@ -627,13 +636,16 @@
 
                 while(1) { //
                     control();
+                    read(data);
+                    wait(0.5);
+                    dataprint(data);
                     if(Switch2.read()==1) {
                         char str[12];
                         mode=1;
                         servodown();//servo down
                         read(data);
                         dataprint(data);
-                        wait_ms(500);
+                      //  wait_ms(500);
                         servoup();//servo up
                         point = checkpoint();
                         sprintf(str,"point = %d",point);
@@ -677,7 +689,7 @@
 
             }
 
-            printf("mode=%d\n",mode);
+     //       printf("mode=%d\n",mode);
 
         }  //end while mode loop
     }