Diff: LinearActuator/LinearActuator.cpp

Revision:

11:3b241ecb75ed

Parent:

10:085ab7328054

Child:

12:a0519d11d2b6

--- a/LinearActuator/LinearActuator.cpp	Mon Oct 23 12:50:53 2017 +0000
+++ b/LinearActuator/LinearActuator.cpp	Fri Oct 27 00:37:32 2017 +0000
@@ -152,14 +152,18 @@
  
     _pid.writeSetPoint(_SetPoint_mm);
 }
+
+float LinearActuator::getSetPosition_mm() {
+    return _SetPoint_mm;
+}
  
 float LinearActuator::getPosition_mm() {
     return _position_mm;
 }
  
-//float LinearActuator::getPosition_counts() {
-//    return _position; // returns raw adc counts (useful for zeroing)
-//}
+float LinearActuator::getPosition_counts() {
+    return _position;
+}
  
 float LinearActuator::getVelocity_mms() {
     return _velocity_mms;
@@ -258,16 +262,16 @@
     start();
     pause();
     
-    //trap program execution here until the filter is converged
-    while(_init){
-        //just wait here until the things calm down   
-    }
+//    //trap program execution here until the filter is converged
+//    while(_init){
+//        //just wait here until the things calm down   
+//    }
     
     //Now that the readings are stabilized
     // This sends the motor on a kamakaze mission toward the limit switch
     // The interrupt should catch and stop it, and the piston is now at home
     // position
-    _motor.run(-1.0);
+    _motor.run(-0.5);
     
     while (1) {
         //trap the program here while we wait for the limit switch to be triggered
@@ -280,7 +284,7 @@
                 _zeroCounts = _filter.getPosition();
                 
                 // This can be used for troubleshooting
-                //pc().printf("\n\rzero_counts: %4i     \n\r" , _zeroCounts);
+                pc().printf("\n\rzero_counts: %4i     \n\r" , _zeroCounts);
                 //stop the update loop
                 stop();
                 return;
@@ -298,6 +302,10 @@
     _pid.setDeadBand(_deadband);
     return;    
 }
+
+float LinearActuator::getDeadband() {
+    return _deadband;
+}
  
 bool LinearActuator::toggleDeadband(bool toggle) {
     _pid.toggleDeadBand(toggle);