update
Dependencies: Stepper mbed SDFileSystem Ultrasonic PinDetect millis
Diff: main.cpp
- Revision:
- 6:354264d1e4bb
- Parent:
- 4:63f0989c8d1e
- Child:
- 7:ede305192e3b
--- a/main.cpp Wed Dec 19 19:41:43 2018 +0000 +++ b/main.cpp Wed Dec 19 19:44:16 2018 +0000 @@ -2,6 +2,7 @@ #include "Stepper.h" #include "string" #include "hcsr04.h" +#include "millis.h" Serial pc(USBTX, USBRX); HCSR04 heightsensor(PTA2,PTC2); //(trig,echo) HCSR04 pathsensor(PTD3,PTD2); @@ -228,12 +229,20 @@ } } } + void retract() { - while(homeSwitch == 1) + millisStart(); + long Duration = 0; + long StartTime = millis(); + + while(homeSwitch == 1 && Duration <= 48000 ) { in1=0; in2=1; + long CurrentTime = millis(); + Duration = CurrentTime-StartTime; + pc.printf("Duration = %d\r\n", Duration); } in1=1; in2=1; @@ -243,11 +252,10 @@ { in1=1; in2=0; - wait(14); + wait(48); in1=1; in2=1; } - void internalpullups() { homeSwitch.mode(PullUp);