Diff: LinearActuator/LinearActuator.cpp

Revision:

74:d281aaef9766

Parent:

73:f6f378311c8d

Child:

75:92e79d23d29a

--- a/LinearActuator/LinearActuator.cpp	Mon Jul 30 16:48:48 2018 +0000
+++ b/LinearActuator/LinearActuator.cpp	Tue Aug 14 21:06:48 2018 +0000
@@ -26,7 +26,7 @@
     _init = true;
     _paused = false;
     _limit = false;
-    _slope = 498.729/4096;  //this value should be correct for our current string pots using .625" diameter and 12 bit ADC
+    _slope = 498.729/4096;  //this value should be correct for our current string pots using .625" diameter and 12 bit ADC (hardcoded in config as 0.12176)
     _deadband = 0.5;
  
     _pid_high_limit = 0.0;
@@ -123,17 +123,6 @@
     _init = true;
 }
  
-void LinearActuator::start() {
-    _init = true;
-    _pulse.attach(callback(this,&LinearActuator::update), _dt); //fixed deprecated warning
-}
- 
-void LinearActuator::stop() {
-    _motor.stop();
-    _pulse.detach();
-    _init = true;
-}
- 
 void LinearActuator::pause() {
     //this allows the controller to keep running while turning off the motor output
     _motor.stop();
@@ -269,31 +258,53 @@
 }
  
 void LinearActuator::homePiston() {
-    //start calling the update for the Linear Actuator
-    //start the controller update and immediatley pause the motor output
-    start();
-    pause();
+    //system is already active, input readings should be valid
     
-    //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(-0.5);
+    
+    //unpause the motor (activate it)
+    unpause();
+    
+    _motor.run(-0.1);   //slowed down from -0.5 for testing 08/09/2018
+    
+    xbee().printf("HOMING SEQUENCE ENGAGED. Press \"X\" to exit!\n\r");
     
     while (1) {
         //trap the program here while we wait for the limit switch to be triggered
         //when it does, the limit interrupt will stop the motors
         if (_limit) {
-            pc().printf("\r\nHit limit switch\r\n");
+            xbee().printf("\r\nHit limit switch\r\n");
             //the switch has been pressed
             if (abs(_filter.getVelocity()) < 0.1) {
                 //this is here to make sure the adc filter is not jittering around
                 //we are probably stable enough to take a zero here
-                _zeroCounts = _filter.getPosition();
+                
+                _zeroCounts = _filter.getPosition() + 50; //get position of motors
+                
+                //Added 50 counts for some margin of error
                 
                 // This can be used for troubleshooting
-                pc().printf("\n\rzero_counts: %4i     \n\r" , _zeroCounts);
-                return;
+                xbee().printf("\n\rzero_counts: %4i     \n\r" , _zeroCounts);
+                
+                //pause the motor (deactivate it)
+                pause();
+                
+                break;  //end while loop
+            }
+        } //end of limit switch if statement
+        
+        if (xbee().readable()) {
+            char user_input = xbee().getc();
+            
+            if (user_input == 'x' or user_input == 'X') {
+                xbee().printf("EXIT! HOMING NOT COMPLETE!\n\r");
+                break;  //end while loop
+            }
+            
+            else if (user_input == 'c' or user_input == 'C') {
+                xbee().printf("Current counts: %d\n\r", _filter.getPosition());
             }
         }
     }