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Dependencies:   Stepper mbed SDFileSystem Ultrasonic PinDetect millis

Files at this revision

API Documentation at this revision

Revision 9:f72ddee31041, committed 2019-01-18

Comitter:
rschimpf78
Date:
Fri Jan 18 19:40:19 2019 +0000
Parent:
8:3f4d78017fd9
Commit message:
update

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Jan 18 00:22:13 2019 +0000
+++ b/main.cpp	Fri Jan 18 19:40:19 2019 +0000
@@ -38,6 +38,7 @@
             }
         else{
             broken_switch = 0;
+            stop_error = 0;
             }
 }
 
@@ -169,73 +170,76 @@
                stop_error = 6;          
             }
 
-            if (path_dist >= sens_pos-err && path_dist <= sens_pos+err){     //119  143      
+            else if (path_dist >= sens_pos-err && path_dist <= sens_pos+err){     //119  143      
                path_sheets = 16;
                 
             }
-            if (path_dist >= sens_pos-err+sheet_th && path_dist <= sens_pos+err+sheet_th){
+            else if (path_dist >= sens_pos-err+sheet_th && path_dist <= sens_pos+err+sheet_th){
                path_sheets = 15;
                 
             }
-            if (path_dist >= sens_pos-err+2*sheet_th && path_dist <= sens_pos+err+2*sheet_th){ //179-191
+            else if (path_dist >= sens_pos-err+2*sheet_th && path_dist <= sens_pos+err+2*sheet_th){ //179-191
                path_sheets = 14;
                 
             }
-            if (path_dist >= sens_pos-err+3*sheet_th && path_dist <= sens_pos+err+3*sheet_th){ //205-217
+            else if (path_dist >= sens_pos-err+3*sheet_th && path_dist <= sens_pos+err+3*sheet_th){ //205-217
                path_sheets = 13;
                  
             }
-            if (path_dist >= sens_pos-err+4*sheet_th && path_dist <= sens_pos+err+4*sheet_th){ //231-243
+            else if (path_dist >= sens_pos-err+4*sheet_th && path_dist <= sens_pos+err+4*sheet_th){ //231-243
                path_sheets = 12;
                 
             }
-            if (path_dist >= sens_pos-err+5*sheet_th && path_dist <= sens_pos+err+5*sheet_th){ //257-269
+            else if (path_dist >= sens_pos-err+5*sheet_th && path_dist <= sens_pos+err+5*sheet_th){ //257-269
                path_sheets = 11;
                 
             }
-            if (path_dist >= sens_pos-err+6*sheet_th && path_dist <= sens_pos+err+6*sheet_th){ //283-295
+            else if (path_dist >= sens_pos-err+6*sheet_th && path_dist <= sens_pos+err+6*sheet_th){ //283-295
                path_sheets = 10;
                 
             }
-            if (path_dist >= sens_pos-err+7*sheet_th && path_dist <= sens_pos+err+7*sheet_th){ //309-321
+            else if (path_dist >= sens_pos-err+7*sheet_th && path_dist <= sens_pos+err+7*sheet_th){ //309-321
                path_sheets = 9;
                 
             }
-            if (path_dist >= sens_pos-err+8*sheet_th && path_dist <= sens_pos+err+8*sheet_th){ //323-333
+            else if (path_dist >= sens_pos-err+8*sheet_th && path_dist <= sens_pos+err+8*sheet_th){ //323-333
                path_sheets = 8;
                 
             }
-            if (path_dist >= sens_pos-err+9*sheet_th && path_dist <= sens_pos+err+9*sheet_th){ //349-359
+            else if (path_dist >= sens_pos-err+9*sheet_th && path_dist <= sens_pos+err+9*sheet_th){ //349-359
                path_sheets = 7;
                 
             }
-            if (path_dist >= sens_pos-err+10*sheet_th && path_dist <= sens_pos+err+10*sheet_th){
+            else if (path_dist >= sens_pos-err+10*sheet_th && path_dist <= sens_pos+err+10*sheet_th){
                path_sheets = 6;
                 
             }
-            if (path_dist >= sens_pos-err+11*sheet_th && path_dist <= sens_pos+err+11*sheet_th){
+            else if (path_dist >= sens_pos-err+11*sheet_th && path_dist <= sens_pos+err+11*sheet_th){
                path_sheets = 5;
                 
             }
-            if (path_dist >= sens_pos-err+12*sheet_th && path_dist <= sens_pos+err+12*sheet_th){
+           else if (path_dist >= sens_pos-err+12*sheet_th && path_dist <= sens_pos+err+12*sheet_th){
                path_sheets = 4;
                 
             }
-            if (path_dist >= sens_pos-err+13*sheet_th && path_dist <= sens_pos+err+13*sheet_th){ 
+            else if (path_dist >= sens_pos-err+13*sheet_th && path_dist <= sens_pos+err+13*sheet_th){ 
                path_sheets = 3;
                 
             }
-            if (path_dist >= sens_pos-err+14*sheet_th && path_dist <= sens_pos+err+14*sheet_th){ 
+            else if (path_dist >= sens_pos-err+14*sheet_th && path_dist <= sens_pos+err+14*sheet_th){ 
                path_sheets = 2;
                 
             }
-            if (path_dist >= sens_pos-10-err+15*sheet_th && path_dist <= sens_pos-10+err+15*sheet_th){
+            else if (path_dist >= sens_pos-10-err+15*sheet_th && path_dist <= sens_pos-10+err+15*sheet_th){
                path_sheets = 1;
                 
             }
-            if (path_dist > sens_pos-err+16*sheet_th){  
+            else if (path_dist > sens_pos-err+16*sheet_th){  
                path_sheets = 0;
             }   
+            else {
+                path_sheets = 17;
+                }
 }
 
 void retract()