Revision 32:06c343675a3e, committed 2019-04-24

Comitter:

rebecams

Date:

Wed Apr 24 18:58:10 2019 +0000

Parent:

31:3aae82e6353c

Commit message:

joystick para eixos X+ X- Y+ Y-

Changed in this revision

--- a/main.cpp	Wed Apr 24 14:14:04 2019 +0000
+++ b/main.cpp	Wed Apr 24 18:58:10 2019 +0000
@@ -65,50 +65,42 @@
 //        x = x_axis.read();
         printf("\n Y axis: %f", y_axis.read()); // Show the value of the Y axis (0.0 to 1.0)
 //        y = y_axis.read();
-        printf("\n Button: %d", button.read()); // Show the button status (0 is pressed, 1 is not pressed)
-        
-        wait_ms(T_MS);                          // Wait time between reads
-        printf("Motor Control Application Example for 2 Motors\r\n\n");
-    
+//the button status (0 is pressed, 1 is not pressed)    
     
         /*----- Movendo pra frente -----*/
 
         /* Printing to the console. */
-        printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
         if (x_axis.read()>0.6){
             /* Moving N steps in the forward direction. */
+            printf("--> Moving forward Motor 1");
             motor1->run(StepperMotor::FWD);
-            motor1->wait_while_active();
             }
-        else if (y_axis.read()>0.6){
+        if (y_axis.read()>0.6){
+            printf("--> Moving forward Motor 2");
             motor2->run(StepperMotor::FWD);
-            motor2->wait_while_active();
             }
     
         int position1 = motor1->get_position();
         int position2 = motor2->get_position();
-        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
+        //printf("    Position: Motor 1 %d, Motor 2 %d.\r\n", position1, position2);
     
         /*----- Movendo pra trás -----*/
-    
         if (x_axis.read()<0.4){
             /* Moving N steps in the backward direction. */
-            printf("--> Moving X backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
+            printf("--> Moving X backward Motor 1");
             motor1->run(StepperMotor::BWD);
             }
-        else if (y_axis.read()<0.4){
-            printf("--> Moving Y backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
+        if (y_axis.read()<0.4){
+            printf("--> Moving Y backward Motor 2");
             motor2->run(StepperMotor::BWD);
             }
-        else{
-            soft_stop()
+        if (0.4<x_axis.read() and x_axis.read()<0.6){
+            printf("--> Parado motor 1");
+            motor1->soft_stop();
             }
-    
-        /* Getting current position. */
-        position1 = motor1->get_position();
-        position2 = motor2->get_position();
-        
-        /* Printing to the console. */
-        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
+        if (0.4<y_axis.read() and y_axis.read()<0.6){
+            printf("--> Parado motor 2");
+            motor2->soft_stop();
+            }
     }
 }
\ No newline at end of file