Diff: main.cpp

Revision:

1:555373c1b9be

Parent:

0:49f7a745f758

Child:

2:ff77628098e4

--- a/main.cpp	Thu Nov 01 10:23:33 2018 +0000
+++ b/main.cpp	Thu Nov 01 10:34:03 2018 +0000
@@ -4,29 +4,40 @@
 double rotation_end_position=1;
 double tower_1_position=1;
 double tower_end_position=1;
-const int revcount = 25*8400;
+const int revcounts = 25*8400;
+int counts1=1;
+int counts2=1;
 
 // 
-void home(){
+void translation_start(int a,int b){}
+void translation_stop(){}
+void rotation_start(int a, int b){}
+void rotation_stop(){}
+int main(){
     //translation home
-    if (counts2 > ((tower_end_position - tower_1_position)/2){
+    if (counts2 > ((tower_end_position - tower_1_position)/2)){
         translation_start(0,1);
         }
     else {    
         translation_start(1,1);
         }
-    if (counts2 > ((tower_end_position - tower_1_position)/2 - 100){
-        if (counts2 < ((tower_end_position - tower_1_position)/2 + 100){
-            translation_stop()
+    if (counts2 > ((tower_end_position - tower_1_position)/2 - 100)){
+        if (counts2 < ((tower_end_position - tower_1_position)/2 + 100)){
+            translation_stop();
             }
         else{}
         }
     else{}
     
     //rotation home
-    rotation_start();
-    if ((counts1 - (revcount * (counts1 / revcounts))) > (rotation_end_position - 100)){ //check if motor 1 is in the right position within 100 counts range
-        if ((counts1 - (revcount * (counts1 / revcounts))) < (rotation_end_position + 100)){
+    if ((counts1 - (revcounts * (counts1 / revcounts))) > (rotation_end_position)){
+        rotation_start(0,1);
+        }
+    else{
+        rotation_start(1,1);
+        }
+    if ((counts1 - (revcounts * (counts1 / revcounts))) > (rotation_end_position - 100)){ //check if motor 1 is in the right position within 100 counts range
+        if ((counts1 - (revcounts * (counts1 / revcounts))) < (rotation_end_position + 100)){
         rotation_stop();
             }
         else {}