Group 9 BioRobotics / Mbed 2 deprecated homing

homing

Dependencies:   mbed

main.cpp@0:49f7a745f758, 2018-11-01 (annotated)

Committer:
kweisbeek
Date:
Thu Nov 01 10:23:33 2018 +0000
Revision:
0:49f7a745f758
Child:
1:555373c1b9be
home

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kweisbeek 0:49f7a745f758 1 #include "mbed.h"
kweisbeek 0:49f7a745f758 2
kweisbeek 0:49f7a745f758 3 //positie van start punten in counts
kweisbeek 0:49f7a745f758 4 double rotation_end_position=1;
kweisbeek 0:49f7a745f758 5 double tower_1_position=1;
kweisbeek 0:49f7a745f758 6 double tower_end_position=1;
kweisbeek 0:49f7a745f758 7 const int revcount = 25*8400;
kweisbeek 0:49f7a745f758 8
kweisbeek 0:49f7a745f758 9 //
kweisbeek 0:49f7a745f758 10 void home(){
kweisbeek 0:49f7a745f758 11 //translation home
kweisbeek 0:49f7a745f758 12 if (counts2 > ((tower_end_position - tower_1_position)/2){
kweisbeek 0:49f7a745f758 13 translation_start(0,1);
kweisbeek 0:49f7a745f758 14 }
kweisbeek 0:49f7a745f758 15 else {
kweisbeek 0:49f7a745f758 16 translation_start(1,1);
kweisbeek 0:49f7a745f758 17 }
kweisbeek 0:49f7a745f758 18 if (counts2 > ((tower_end_position - tower_1_position)/2 - 100){
kweisbeek 0:49f7a745f758 19 if (counts2 < ((tower_end_position - tower_1_position)/2 + 100){
kweisbeek 0:49f7a745f758 20 translation_stop()
kweisbeek 0:49f7a745f758 21 }
kweisbeek 0:49f7a745f758 22 else{}
kweisbeek 0:49f7a745f758 23 }
kweisbeek 0:49f7a745f758 24 else{}
kweisbeek 0:49f7a745f758 25
kweisbeek 0:49f7a745f758 26 //rotation home
kweisbeek 0:49f7a745f758 27 rotation_start();
kweisbeek 0:49f7a745f758 28 if ((counts1 - (revcount * (counts1 / revcounts))) > (rotation_end_position - 100)){ //check if motor 1 is in the right position within 100 counts range
kweisbeek 0:49f7a745f758 29 if ((counts1 - (revcount * (counts1 / revcounts))) < (rotation_end_position + 100)){
kweisbeek 0:49f7a745f758 30 rotation_stop();
kweisbeek 0:49f7a745f758 31 }
kweisbeek 0:49f7a745f758 32 else {}
kweisbeek 0:49f7a745f758 33 }
kweisbeek 0:49f7a745f758 34 else {}
kweisbeek 0:49f7a745f758 35 }
kweisbeek 0:49f7a745f758 36