Diff: main.cpp

Revision:

23:ccd253b36733

Parent:

22:2136dcad1dbc

Child:

24:2b5e749e26b2

--- a/main.cpp	Thu May 02 09:07:41 2019 +0000
+++ b/main.cpp	Sat May 04 15:24:56 2019 +0000
@@ -570,9 +570,12 @@
             posError = posSD - (double)TBactualPosition;
             // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
             if((lowSpeed==0)&&(aspettaStart==0)) {
-                double lowLim=-500.0f;
-                double higLim= 130.0f;
-                double divide= 25.0f;
+                double lowLim=-50.0f;
+                double higLim = 50.0f;
+                double divide= 100.0f;
+                // double lowLim=-500.0f; pneumatico Alessandria
+                // double higLim= 130.0f; pneumatico Alessandria
+                // double divide= 25.0f; pneumatico Alessandria
                 if (pickNumber <= 5) {
                     lowLim=-500.0f;
                     higLim= 500.0f;
@@ -580,7 +583,8 @@
                 } else {
                     lowLim=-10.0f;
                     higLim= 130.0f;
-                    divide= 20.0f;
+                    // divide= 20.0f; pneumatico Alessandria
+                    divide= 100.0f;
                 }
                 if (posError>higLim) {
                     posError=higLim;
@@ -1725,13 +1729,21 @@
 
         if (inProva==0) {
             // simulazione stepper
-            if (simStepper==1){
-                oldSimStepper=true;
-                simStepSpeed= ((double)speedStepp*180.45f)/50.0f;
-                if (oldSimStepSpeed!=simStepSpeed){
-                    motor->run(StepperMotor::FWD,simStepSpeed);
-                    oldSimStepSpeed=simStepSpeed;
-                }
+            if (simOk==1){
+                if (simStepper==1){
+                    oldSimStepper=true;
+                    simStepSpeed= ((double)speedStepp*180.45f)/50.0f;
+                    if (oldSimStepSpeed!=simStepSpeed){
+                        motor->run(StepperMotor::FWD,simStepSpeed);
+                        oldSimStepSpeed=simStepSpeed;
+                    }
+                }else{
+                    if (oldSimStepper==true){
+                        oldSimStepper=false;
+                        motor->soft_hiz();
+                        oldSimStepSpeed=0.0f;
+                    }
+                }   
             }else{
                 if (oldSimStepper==true){
                     oldSimStepper=false;