File content as of revision 0:49f7a745f758:

#include "mbed.h"

//positie van start punten in counts
double rotation_end_position=1;
double tower_1_position=1;
double tower_end_position=1;
const int revcount = 25*8400;

// 
void home(){
    //translation home
    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()
            }
        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)){
        rotation_stop();
            }
        else {}
        }
    else {}
    }