Diff: main.cpp

Revision:

5:e52055ff2bfe

Parent:

4:680f775a3703

Child:

6:ae2ce89dd695

--- a/main.cpp	Sun Oct 18 14:13:51 2015 +0000
+++ b/main.cpp	Mon Oct 19 11:46:57 2015 +0000
@@ -74,11 +74,11 @@
             
             // perform stepping between boundries
             if(horrequest < -grenshoog){horrequest=-1;} else if(horrequest>=-grenshoog and horrequest<-grenslaag){horrequest=-0.5;}
-            if(horrequest >  grenshoog){horrequest=1; } else if(horrequest>= grenslaag and horrequest<grenshoog){horrequest=0.5;} 
+            else if(horrequest >  grenshoog){horrequest=1; } else if(horrequest>= grenslaag and horrequest<grenshoog){horrequest=0.5;} 
             else {horrequest=0;}
             
             if(verrequest < -grenshoog){verrequest=-1;} else if(verrequest>=-grenshoog and verrequest<-grenslaag){verrequest=-0.5;}
-            if(verrequest >  grenshoog){verrequest=1; } else if(verrequest>= grenslaag and verrequest<grenshoog){verrequest=0.5;} 
+            else if(verrequest >  grenshoog){verrequest=1; } else if(verrequest>= grenslaag and verrequest<grenshoog){verrequest=0.5;} 
             else {verrequest=0;}
             
             horrequest=horrequest*maxspeed; // turn [-1, 1] into [-max cm/s, max cm/s]
@@ -106,7 +106,7 @@
                 if (verrequest > 0){verrequest=0; pc.printf("hit top edge \n\r");}
             }
             if (edgebottom==0){
-                if (verrequest > 0){verrequest=0; pc.printf("hit bottom edge \n\r");}
+                if (verrequest < 0){verrequest=0; pc.printf("hit bottom edge \n\r");}
             }
             
             // calculate the position to go to according the the current position + the distance that should be covered in this timestep (cm)