for cycle testing
Dependencies: HCSR04 PinDetect Stepper
main.cpp@0:5848e605bae5, 2018-10-13 (annotated)
- Committer:
- rschimpf78
- Date:
- Sat Oct 13 02:26:02 2018 +0000
- Revision:
- 0:5848e605bae5
no change;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rschimpf78 | 0:5848e605bae5 | 1 | #include "mbed.h" |
rschimpf78 | 0:5848e605bae5 | 2 | #include "Stepper.h" |
rschimpf78 | 0:5848e605bae5 | 3 | #include "string" |
rschimpf78 | 0:5848e605bae5 | 4 | #include "hcsr04.h" |
rschimpf78 | 0:5848e605bae5 | 5 | Serial pc(USBTX, USBRX); |
rschimpf78 | 0:5848e605bae5 | 6 | HCSR04 heightsensor(PTA2,PTC2); //(trig,echo) |
rschimpf78 | 0:5848e605bae5 | 7 | HCSR04 pathsensor(PTD3,PTD2); |
rschimpf78 | 0:5848e605bae5 | 8 | DigitalOut in1(PTC12); |
rschimpf78 | 0:5848e605bae5 | 9 | DigitalOut in2(D7); |
rschimpf78 | 0:5848e605bae5 | 10 | DigitalIn homeSwitch(D9); |
rschimpf78 | 0:5848e605bae5 | 11 | Stepper mot(D3,D4); //(D3 to PUL+, D4 to DIR+) |
rschimpf78 | 0:5848e605bae5 | 12 | DigitalOut en(D2); |
rschimpf78 | 0:5848e605bae5 | 13 | |
rschimpf78 | 0:5848e605bae5 | 14 | volatile int plates=0; |
rschimpf78 | 0:5848e605bae5 | 15 | volatile unsigned int sheets=0; |
rschimpf78 | 0:5848e605bae5 | 16 | volatile unsigned int path_sheets=0; |
rschimpf78 | 0:5848e605bae5 | 17 | |
rschimpf78 | 0:5848e605bae5 | 18 | void plate_selection() |
rschimpf78 | 0:5848e605bae5 | 19 | { |
rschimpf78 | 0:5848e605bae5 | 20 | unsigned int dist; |
rschimpf78 | 0:5848e605bae5 | 21 | int er = 5; |
rschimpf78 | 0:5848e605bae5 | 22 | int fp = 470; //adjust if needed |
rschimpf78 | 0:5848e605bae5 | 23 | int lp = 75; //adjust if needed |
rschimpf78 | 0:5848e605bae5 | 24 | int tp = 26; |
rschimpf78 | 0:5848e605bae5 | 25 | |
rschimpf78 | 0:5848e605bae5 | 26 | while (plates!=sheets) { |
rschimpf78 | 0:5848e605bae5 | 27 | heightsensor.start(); |
rschimpf78 | 0:5848e605bae5 | 28 | wait_ms(500); |
rschimpf78 | 0:5848e605bae5 | 29 | dist=heightsensor.get_dist_cm(); |
rschimpf78 | 0:5848e605bae5 | 30 | pc.printf("\nmm:%ld",dist); |
rschimpf78 | 0:5848e605bae5 | 31 | |
rschimpf78 | 0:5848e605bae5 | 32 | if (dist<=lp-10 || dist >= fp+10){ |
rschimpf78 | 0:5848e605bae5 | 33 | mot.stop(); |
rschimpf78 | 0:5848e605bae5 | 34 | en = 1; |
rschimpf78 | 0:5848e605bae5 | 35 | sheets = plates; |
rschimpf78 | 0:5848e605bae5 | 36 | pc.printf("\nERROR: Selector is outside of plate range\nRestart/Reset Program"); |
rschimpf78 | 0:5848e605bae5 | 37 | } |
rschimpf78 | 0:5848e605bae5 | 38 | else if (plates<sheets){ |
rschimpf78 | 0:5848e605bae5 | 39 | en = 0; |
rschimpf78 | 0:5848e605bae5 | 40 | mot.setSpeed(600); |
rschimpf78 | 0:5848e605bae5 | 41 | mot.rotate(1); |
rschimpf78 | 0:5848e605bae5 | 42 | } |
rschimpf78 | 0:5848e605bae5 | 43 | else{ |
rschimpf78 | 0:5848e605bae5 | 44 | en = 0; |
rschimpf78 | 0:5848e605bae5 | 45 | mot.setSpeed(600); |
rschimpf78 | 0:5848e605bae5 | 46 | mot.rotate(0); |
rschimpf78 | 0:5848e605bae5 | 47 | } |
rschimpf78 | 0:5848e605bae5 | 48 | |
rschimpf78 | 0:5848e605bae5 | 49 | if (dist<=fp+er && dist>=fp-er){ |
rschimpf78 | 0:5848e605bae5 | 50 | sheets = 1; |
rschimpf78 | 0:5848e605bae5 | 51 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 52 | } |
rschimpf78 | 0:5848e605bae5 | 53 | |
rschimpf78 | 0:5848e605bae5 | 54 | if (dist<= fp-tp-er && dist>=fp-tp-er){ |
rschimpf78 | 0:5848e605bae5 | 55 | sheets = 2; |
rschimpf78 | 0:5848e605bae5 | 56 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 57 | } |
rschimpf78 | 0:5848e605bae5 | 58 | |
rschimpf78 | 0:5848e605bae5 | 59 | if (dist<= fp-2*tp-er && dist>=fp-2*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 60 | sheets = 3; |
rschimpf78 | 0:5848e605bae5 | 61 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 62 | } |
rschimpf78 | 0:5848e605bae5 | 63 | |
rschimpf78 | 0:5848e605bae5 | 64 | if (dist<= fp-3*tp-er && dist>=fp-3*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 65 | sheets = 4; |
rschimpf78 | 0:5848e605bae5 | 66 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 67 | } |
rschimpf78 | 0:5848e605bae5 | 68 | if (dist<= fp-4*tp-er && dist>=fp-4*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 69 | sheets = 5; |
rschimpf78 | 0:5848e605bae5 | 70 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 71 | } |
rschimpf78 | 0:5848e605bae5 | 72 | if (dist<= fp-5*tp-er && dist>=fp-5*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 73 | sheets = 6; |
rschimpf78 | 0:5848e605bae5 | 74 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 75 | } |
rschimpf78 | 0:5848e605bae5 | 76 | if (dist<= fp-6*tp-er && dist>=fp-6*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 77 | sheets = 7; |
rschimpf78 | 0:5848e605bae5 | 78 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 79 | } |
rschimpf78 | 0:5848e605bae5 | 80 | if (dist<= fp-7*tp-er && dist>=fp-7*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 81 | sheets = 8; |
rschimpf78 | 0:5848e605bae5 | 82 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 83 | } |
rschimpf78 | 0:5848e605bae5 | 84 | if (dist<= fp-8*tp-er && dist>=fp-8*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 85 | sheets = 9; |
rschimpf78 | 0:5848e605bae5 | 86 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 87 | } |
rschimpf78 | 0:5848e605bae5 | 88 | if (dist<= fp-9*tp-er && dist>=fp-9*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 89 | sheets = 10; |
rschimpf78 | 0:5848e605bae5 | 90 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 91 | } |
rschimpf78 | 0:5848e605bae5 | 92 | if (dist<= fp-10*tp-er && dist>=fp-10*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 93 | sheets = 11; |
rschimpf78 | 0:5848e605bae5 | 94 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 95 | } |
rschimpf78 | 0:5848e605bae5 | 96 | if (dist<= fp-11*tp-er && dist>=fp-11*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 97 | sheets = 12; |
rschimpf78 | 0:5848e605bae5 | 98 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 99 | } |
rschimpf78 | 0:5848e605bae5 | 100 | if (dist<= fp-12*tp-er && dist>=fp-12*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 101 | sheets = 13; |
rschimpf78 | 0:5848e605bae5 | 102 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 103 | } |
rschimpf78 | 0:5848e605bae5 | 104 | if (dist<= fp-13*tp-er && dist>=fp-13*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 105 | sheets = 14; |
rschimpf78 | 0:5848e605bae5 | 106 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 107 | } |
rschimpf78 | 0:5848e605bae5 | 108 | if (dist<= fp-14*tp-er && dist>=fp-14*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 109 | sheets = 15; |
rschimpf78 | 0:5848e605bae5 | 110 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 111 | } |
rschimpf78 | 0:5848e605bae5 | 112 | if (dist<= fp-15*tp-er && dist>=fp-15*tp-er){ |
rschimpf78 | 0:5848e605bae5 | 113 | sheets = 16; |
rschimpf78 | 0:5848e605bae5 | 114 | pc.printf("\nSheets selected:%ld",sheets); |
rschimpf78 | 0:5848e605bae5 | 115 | } |
rschimpf78 | 0:5848e605bae5 | 116 | } |
rschimpf78 | 0:5848e605bae5 | 117 | mot.stop(); |
rschimpf78 | 0:5848e605bae5 | 118 | en = 1; |
rschimpf78 | 0:5848e605bae5 | 119 | wait(1); |
rschimpf78 | 0:5848e605bae5 | 120 | } |
rschimpf78 | 0:5848e605bae5 | 121 | |
rschimpf78 | 0:5848e605bae5 | 122 | void beam() |
rschimpf78 | 0:5848e605bae5 | 123 | { |
rschimpf78 | 0:5848e605bae5 | 124 | |
rschimpf78 | 0:5848e605bae5 | 125 | unsigned int path_dist; |
rschimpf78 | 0:5848e605bae5 | 126 | int err = 5; |
rschimpf78 | 0:5848e605bae5 | 127 | int sens_pos = 133; //adjust if needed |
rschimpf78 | 0:5848e605bae5 | 128 | int sheet_th = 26; |
rschimpf78 | 0:5848e605bae5 | 129 | pathsensor.start(); |
rschimpf78 | 0:5848e605bae5 | 130 | wait_ms(500); |
rschimpf78 | 0:5848e605bae5 | 131 | path_dist=pathsensor.get_dist_cm(); |
rschimpf78 | 0:5848e605bae5 | 132 | pc.printf("\nmm:%ld",path_dist); |
rschimpf78 | 0:5848e605bae5 | 133 | path_sheets = 17; |
rschimpf78 | 0:5848e605bae5 | 134 | |
rschimpf78 | 0:5848e605bae5 | 135 | if (path_dist >= sens_pos-err && path_dist <= sens_pos+err){ //127-139 |
rschimpf78 | 0:5848e605bae5 | 136 | path_sheets = 16; |
rschimpf78 | 0:5848e605bae5 | 137 | |
rschimpf78 | 0:5848e605bae5 | 138 | } |
rschimpf78 | 0:5848e605bae5 | 139 | if (path_dist >= sens_pos-err+sheet_th && path_dist <= sens_pos+err+sheet_th){ // 153-165 |
rschimpf78 | 0:5848e605bae5 | 140 | path_sheets = 15; |
rschimpf78 | 0:5848e605bae5 | 141 | |
rschimpf78 | 0:5848e605bae5 | 142 | } |
rschimpf78 | 0:5848e605bae5 | 143 | if (path_dist >= sens_pos-err+2*sheet_th && path_dist <= sens_pos+err+2*sheet_th){ //179-191 |
rschimpf78 | 0:5848e605bae5 | 144 | path_sheets = 14; |
rschimpf78 | 0:5848e605bae5 | 145 | |
rschimpf78 | 0:5848e605bae5 | 146 | } |
rschimpf78 | 0:5848e605bae5 | 147 | if (path_dist >= sens_pos-err+3*sheet_th && path_dist <= sens_pos+err+3*sheet_th){ //205-217 |
rschimpf78 | 0:5848e605bae5 | 148 | path_sheets = 13; |
rschimpf78 | 0:5848e605bae5 | 149 | |
rschimpf78 | 0:5848e605bae5 | 150 | } |
rschimpf78 | 0:5848e605bae5 | 151 | if (path_dist >= sens_pos-err+4*sheet_th && path_dist <= sens_pos+err+4*sheet_th){ //231-243 |
rschimpf78 | 0:5848e605bae5 | 152 | path_sheets = 12; |
rschimpf78 | 0:5848e605bae5 | 153 | |
rschimpf78 | 0:5848e605bae5 | 154 | } |
rschimpf78 | 0:5848e605bae5 | 155 | if (path_dist >= sens_pos-err+5*sheet_th && path_dist <= sens_pos+err+5*sheet_th){ //257-269 |
rschimpf78 | 0:5848e605bae5 | 156 | path_sheets = 11; |
rschimpf78 | 0:5848e605bae5 | 157 | |
rschimpf78 | 0:5848e605bae5 | 158 | } |
rschimpf78 | 0:5848e605bae5 | 159 | if (path_dist >= sens_pos-err+6*sheet_th && path_dist <= sens_pos+err+6*sheet_th){ //283-295 |
rschimpf78 | 0:5848e605bae5 | 160 | path_sheets = 10; |
rschimpf78 | 0:5848e605bae5 | 161 | |
rschimpf78 | 0:5848e605bae5 | 162 | } |
rschimpf78 | 0:5848e605bae5 | 163 | if (path_dist >= sens_pos-err+7*sheet_th && path_dist <= sens_pos+err+7*sheet_th){ //309-321 |
rschimpf78 | 0:5848e605bae5 | 164 | path_sheets = 9; |
rschimpf78 | 0:5848e605bae5 | 165 | |
rschimpf78 | 0:5848e605bae5 | 166 | } |
rschimpf78 | 0:5848e605bae5 | 167 | if (path_dist >= sens_pos-err+8*sheet_th && path_dist <= sens_pos+err+8*sheet_th){ //323-333 |
rschimpf78 | 0:5848e605bae5 | 168 | path_sheets = 8; |
rschimpf78 | 0:5848e605bae5 | 169 | |
rschimpf78 | 0:5848e605bae5 | 170 | } |
rschimpf78 | 0:5848e605bae5 | 171 | if (path_dist >= sens_pos-err+9*sheet_th && path_dist <= sens_pos+err+9*sheet_th){ //349-359 |
rschimpf78 | 0:5848e605bae5 | 172 | path_sheets = 7; |
rschimpf78 | 0:5848e605bae5 | 173 | |
rschimpf78 | 0:5848e605bae5 | 174 | } |
rschimpf78 | 0:5848e605bae5 | 175 | if (path_dist >= sens_pos-err+10*sheet_th && path_dist <= sens_pos+err+10*sheet_th){ |
rschimpf78 | 0:5848e605bae5 | 176 | path_sheets = 6; |
rschimpf78 | 0:5848e605bae5 | 177 | |
rschimpf78 | 0:5848e605bae5 | 178 | } |
rschimpf78 | 0:5848e605bae5 | 179 | if (path_dist >= sens_pos-err+11*sheet_th && path_dist <= sens_pos+err+11*sheet_th){ |
rschimpf78 | 0:5848e605bae5 | 180 | path_sheets = 5; |
rschimpf78 | 0:5848e605bae5 | 181 | |
rschimpf78 | 0:5848e605bae5 | 182 | } |
rschimpf78 | 0:5848e605bae5 | 183 | if (path_dist >= sens_pos-err+12*sheet_th && path_dist <= sens_pos+err+12*sheet_th){ |
rschimpf78 | 0:5848e605bae5 | 184 | path_sheets = 4; |
rschimpf78 | 0:5848e605bae5 | 185 | |
rschimpf78 | 0:5848e605bae5 | 186 | } |
rschimpf78 | 0:5848e605bae5 | 187 | if (path_dist >= sens_pos-err+13*sheet_th && path_dist <= sens_pos+err+13*sheet_th){ //465-477 |
rschimpf78 | 0:5848e605bae5 | 188 | path_sheets = 3; |
rschimpf78 | 0:5848e605bae5 | 189 | |
rschimpf78 | 0:5848e605bae5 | 190 | } |
rschimpf78 | 0:5848e605bae5 | 191 | if (path_dist >= sens_pos-err+14*sheet_th && path_dist <= sens_pos+err+14*sheet_th){ |
rschimpf78 | 0:5848e605bae5 | 192 | path_sheets = 2; |
rschimpf78 | 0:5848e605bae5 | 193 | |
rschimpf78 | 0:5848e605bae5 | 194 | } |
rschimpf78 | 0:5848e605bae5 | 195 | if (path_dist >= sens_pos-err+15*sheet_th && path_dist <= sens_pos+err+15*sheet_th){ |
rschimpf78 | 0:5848e605bae5 | 196 | path_sheets = 1; |
rschimpf78 | 0:5848e605bae5 | 197 | |
rschimpf78 | 0:5848e605bae5 | 198 | } |
rschimpf78 | 0:5848e605bae5 | 199 | if (path_dist > sens_pos-err+16*sheet_th){ |
rschimpf78 | 0:5848e605bae5 | 200 | path_sheets = 0; |
rschimpf78 | 0:5848e605bae5 | 201 | } |
rschimpf78 | 0:5848e605bae5 | 202 | } |
rschimpf78 | 0:5848e605bae5 | 203 | void platedetect() |
rschimpf78 | 0:5848e605bae5 | 204 | { |
rschimpf78 | 0:5848e605bae5 | 205 | if(homeSwitch==0 && path_sheets==0) |
rschimpf78 | 0:5848e605bae5 | 206 | { |
rschimpf78 | 0:5848e605bae5 | 207 | pc.printf("\nAll plates are in the start position"); |
rschimpf78 | 0:5848e605bae5 | 208 | } |
rschimpf78 | 0:5848e605bae5 | 209 | else if (homeSwitch==1 && path_sheets==0) |
rschimpf78 | 0:5848e605bae5 | 210 | { |
rschimpf78 | 0:5848e605bae5 | 211 | pc.printf("\nError-Plates are not fully extended"); |
rschimpf78 | 0:5848e605bae5 | 212 | } |
rschimpf78 | 0:5848e605bae5 | 213 | else |
rschimpf78 | 0:5848e605bae5 | 214 | { |
rschimpf78 | 0:5848e605bae5 | 215 | if (plates==path_sheets) |
rschimpf78 | 0:5848e605bae5 | 216 | { |
rschimpf78 | 0:5848e605bae5 | 217 | pc.printf("\nPlates in beam path:%ld",path_sheets); |
rschimpf78 | 0:5848e605bae5 | 218 | } |
rschimpf78 | 0:5848e605bae5 | 219 | else if (plates != path_sheets && path_sheets <= 16) |
rschimpf78 | 0:5848e605bae5 | 220 | { |
rschimpf78 | 0:5848e605bae5 | 221 | pc.printf("\nError: %ld",path_sheets); |
rschimpf78 | 0:5848e605bae5 | 222 | pc.printf(" Plates in beam path, but user sent %ld",plates); |
rschimpf78 | 0:5848e605bae5 | 223 | pc.printf(" Plates"); |
rschimpf78 | 0:5848e605bae5 | 224 | } |
rschimpf78 | 0:5848e605bae5 | 225 | else{ |
rschimpf78 | 0:5848e605bae5 | 226 | pc.printf("\nERROR: Additional objects detected in beam path"); |
rschimpf78 | 0:5848e605bae5 | 227 | } |
rschimpf78 | 0:5848e605bae5 | 228 | } |
rschimpf78 | 0:5848e605bae5 | 229 | } |
rschimpf78 | 0:5848e605bae5 | 230 | void retract() |
rschimpf78 | 0:5848e605bae5 | 231 | { |
rschimpf78 | 0:5848e605bae5 | 232 | while(homeSwitch == 1) |
rschimpf78 | 0:5848e605bae5 | 233 | { |
rschimpf78 | 0:5848e605bae5 | 234 | in1=0; |
rschimpf78 | 0:5848e605bae5 | 235 | in2=1; |
rschimpf78 | 0:5848e605bae5 | 236 | } |
rschimpf78 | 0:5848e605bae5 | 237 | in1=1; |
rschimpf78 | 0:5848e605bae5 | 238 | in2=1; |
rschimpf78 | 0:5848e605bae5 | 239 | } |
rschimpf78 | 0:5848e605bae5 | 240 | |
rschimpf78 | 0:5848e605bae5 | 241 | void send() |
rschimpf78 | 0:5848e605bae5 | 242 | { |
rschimpf78 | 0:5848e605bae5 | 243 | in1=1; |
rschimpf78 | 0:5848e605bae5 | 244 | in2=0; |
rschimpf78 | 0:5848e605bae5 | 245 | wait(17); |
rschimpf78 | 0:5848e605bae5 | 246 | in1=1; |
rschimpf78 | 0:5848e605bae5 | 247 | in2=1; |
rschimpf78 | 0:5848e605bae5 | 248 | } |
rschimpf78 | 0:5848e605bae5 | 249 | void internalpullups() |
rschimpf78 | 0:5848e605bae5 | 250 | { |
rschimpf78 | 0:5848e605bae5 | 251 | homeSwitch.mode(PullUp); |
rschimpf78 | 0:5848e605bae5 | 252 | wait (.01); |
rschimpf78 | 0:5848e605bae5 | 253 | } |
rschimpf78 | 0:5848e605bae5 | 254 | |
rschimpf78 | 0:5848e605bae5 | 255 | void send_error_check() |
rschimpf78 | 0:5848e605bae5 | 256 | { |
rschimpf78 | 0:5848e605bae5 | 257 | if (plates <= 0 || plates >= 17) |
rschimpf78 | 0:5848e605bae5 | 258 | { |
rschimpf78 | 0:5848e605bae5 | 259 | pc.printf("\nERROR: Invalid Range |"); |
rschimpf78 | 0:5848e605bae5 | 260 | } |
rschimpf78 | 0:5848e605bae5 | 261 | else if(homeSwitch == 1) |
rschimpf78 | 0:5848e605bae5 | 262 | { |
rschimpf78 | 0:5848e605bae5 | 263 | pc.printf("\nERROR: Not at Home Position |"); |
rschimpf78 | 0:5848e605bae5 | 264 | } |
rschimpf78 | 0:5848e605bae5 | 265 | else |
rschimpf78 | 0:5848e605bae5 | 266 | { |
rschimpf78 | 0:5848e605bae5 | 267 | plate_selection(); |
rschimpf78 | 0:5848e605bae5 | 268 | send(); |
rschimpf78 | 0:5848e605bae5 | 269 | } |
rschimpf78 | 0:5848e605bae5 | 270 | } |
rschimpf78 | 0:5848e605bae5 | 271 | |
rschimpf78 | 0:5848e605bae5 | 272 | int main() { |
rschimpf78 | 0:5848e605bae5 | 273 | |
rschimpf78 | 0:5848e605bae5 | 274 | while(1){ |
rschimpf78 | 0:5848e605bae5 | 275 | plates = (rand() % 16) + 1; |
rschimpf78 | 0:5848e605bae5 | 276 | pc.printf("\nSending: ",plates); |
rschimpf78 | 0:5848e605bae5 | 277 | send_error_check(); |
rschimpf78 | 0:5848e605bae5 | 278 | beam(); |
rschimpf78 | 0:5848e605bae5 | 279 | platedetect(); |
rschimpf78 | 0:5848e605bae5 | 280 | wait(2); |
rschimpf78 | 0:5848e605bae5 | 281 | retract(); |
rschimpf78 | 0:5848e605bae5 | 282 | } |
rschimpf78 | 0:5848e605bae5 | 283 | |
rschimpf78 | 0:5848e605bae5 | 284 | |
rschimpf78 | 0:5848e605bae5 | 285 | } |