![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
main
Dependencies: Stepper mbed Ultrasonic PinDetect millis
Diff: main.cpp
- Revision:
- 5:e958d61e0564
- Parent:
- 4:1a4022b21dae
- Child:
- 6:6ca8a0ef7d4a
--- a/main.cpp Fri Nov 16 20:17:04 2018 +0000 +++ b/main.cpp Wed Dec 19 19:39:25 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); @@ -22,7 +23,13 @@ int fp = 457; //adjust if needed int lp = 64; //adjust if needed int tp = 25; - + wait(1); + in1=1; + in2=0; + wait_ms(600); + in1=1; + in2=1; + wait(1); while (plates!=sheets) { heightsensor.start(); wait_ms(500); @@ -230,10 +237,17 @@ } 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; @@ -243,7 +257,7 @@ { in1=1; in2=0; - wait(17); + wait(48); in1=1; in2=1; }