Diff: stepper.cpp

Revision:

53:389fe53b2642

Parent:

52:8987e38851e5

Child:

54:d5a95bc8ffb0

--- a/stepper.cpp	Tue Apr 03 22:32:41 2018 +0000
+++ b/stepper.cpp	Thu Apr 05 17:16:40 2018 +0000
@@ -78,9 +78,10 @@
     
     //static int cur_pos = stp_cur_pos;
     static int turn[4] = {0x03, 0x06, 0x0c, 0x09};
+    static int index = 0;
     if (direction == STP_CW) {
         
-        if (stp_cur_pos <= 200) {
+        if (stp_cur_pos <= 400) {
                 if (stp_cur_pos != STP_POS_UNKN){
                     //pc.printf("current position = %d\n", stp_cur_pos);
                     stp_cur_pos++;
@@ -91,12 +92,12 @@
             while(1);
         }
         
-                
-        for (int i = 0; i < 4; i++) {
-            wait(MOTOR_DELAY);
-            //pc.printf("i = %d\n", i);
-            spi_send(drv8806, turn[i]);
-        }
+        if (index == 3)
+            index = 0;
+        else 
+            index++;
+        wait(MOTOR_DELAY);
+        spi_send(drv8806, turn[index]);
         wait(TURN_DELAY);
     }
     else if (direction == STP_CCW) {
@@ -111,11 +112,12 @@
             return;
         }
         
-        for (int i = 3; i >= 0; i--) {
-            wait(MOTOR_DELAY);
-            //pc.printf("i = %d\n", i);
-            spi_send(drv8806, turn[i]);
-        }
+        if (index == 0)
+            index = 3;
+        else
+            index--;
+        wait(MOTOR_DELAY);
+        spi_send(drv8806, turn[index]);
         wait(TURN_DELAY);
     }
     wait(MOTOR_DELAY);
@@ -209,8 +211,13 @@
     pc.printf("step 9 test begin\n");
     
     int sensor_no = 0;
+    int scanned[8];
+    if (station == STATION_A) sensor_no = 8;
     if (station == STATION_B) sensor_no = 8;
     
+    
+    pc.printf("sensor_no: %d\n", sensor_no);
+    
     // find home position
     stp_find_home();
     
@@ -224,7 +231,7 @@
         ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
         
         // keep turning stepper motor clock wise until it points to a PT sensor
-        while (sensor_values[sensor_no + i] < PTTHRESH) {
+        while (sensor_values[sensor_no + i] * 3.3f < PTTHRESH) {
             // turn CW one step
             stp_step(STP_CW);
             
@@ -234,14 +241,15 @@
             ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
             
             for (int j = 0; j < TGT_SENSOR_QUAN; j++) {
-                if (sensor_values[sensor_no + j] > PTTHRESH)
-                    pc.printf("PT %d: %f ", sensor_no + j, sensor_values[sensor_no + j]);     
+                if (sensor_values[sensor_no + j] * 3.3f > PTTHRESH) {
+                    pc.printf("PT %d: %f\n", sensor_no + j, sensor_values[sensor_no + j] * 3.3f); 
+                    //scanned[i]++;
+                    wait(0.02);    
+                }
             }
-            pc.printf("\n");
         }
         // found the sensor, save it's position
         stp_sensor_pos[i] = stp_cur_pos;
-        //pc.printf("Sensor %d = %d\n", i, stp_sensor_pos[i]);
     }
     // found position of all 8 sensors