Group 9 BioRobotics / Mbed 2 deprecated homing

homing

Dependencies:   mbed

main.cpp@2:ff77628098e4, 2018-11-01 (annotated)

Committer:
s1725696
Date:
Thu Nov 01 10:41:22 2018 +0000
Revision:
2:ff77628098e4
Parent:
1:555373c1b9be 
without homing for rotation

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 1:555373c1b9be 7 const int revcounts = 25*8400;
kweisbeek 1:555373c1b9be 8 int counts1=1;
kweisbeek 1:555373c1b9be 9 int counts2=1;
kweisbeek 0:49f7a745f758 10
kweisbeek 0:49f7a745f758 11 //
kweisbeek 1:555373c1b9be 12 void translation_start(int a,int b){}
kweisbeek 1:555373c1b9be 13 void translation_stop(){}
kweisbeek 1:555373c1b9be 14 void rotation_start(int a, int b){}
kweisbeek 1:555373c1b9be 15 void rotation_stop(){}
s1725696 2:ff77628098e4 16
s1725696 2:ff77628098e4 17 void homing()
s1725696 2:ff77628098e4 18 {
kweisbeek 0:49f7a745f758 19 //translation home
kweisbeek 1:555373c1b9be 20 if (counts2 > ((tower_end_position - tower_1_position)/2)){
kweisbeek 0:49f7a745f758 21 translation_start(0,1);
kweisbeek 0:49f7a745f758 22 }
kweisbeek 0:49f7a745f758 23 else {
kweisbeek 0:49f7a745f758 24 translation_start(1,1);
kweisbeek 0:49f7a745f758 25 }
kweisbeek 1:555373c1b9be 26 if (counts2 > ((tower_end_position - tower_1_position)/2 - 100)){
kweisbeek 1:555373c1b9be 27 if (counts2 < ((tower_end_position - tower_1_position)/2 + 100)){
kweisbeek 1:555373c1b9be 28 translation_stop();
kweisbeek 0:49f7a745f758 29 }
kweisbeek 0:49f7a745f758 30 else{}
kweisbeek 0:49f7a745f758 31 }
kweisbeek 0:49f7a745f758 32 else{}
kweisbeek 0:49f7a745f758 33
kweisbeek 0:49f7a745f758 34 }
s1725696 2:ff77628098e4 35
s1725696 2:ff77628098e4 36 int main()
s1725696 2:ff77628098e4 37 {
s1725696 2:ff77628098e4 38 homing();
s1725696 2:ff77628098e4 39 }
kweisbeek 0:49f7a745f758 40