Codigo comentado da IronCup 01/03/2020
Dependencies: mbed
Diff: main.cpp
- Revision:
- 5:41a59c155649
- Parent:
- 4:247c0fc124db
diff -r 247c0fc124db -r 41a59c155649 main.cpp --- a/main.cpp Tue Feb 25 21:20:05 2020 +0000 +++ b/main.cpp Tue Feb 25 21:25:23 2020 +0000 @@ -65,6 +65,7 @@ int TotalError = 0; int LastSensor = 0; int SET_POINT = 45; +int lastRead; float turbo = 0.05; @@ -146,14 +147,14 @@ void Leitura_Sensores (void){ //Faz a leitura dos sensores e retorna a posição if (sensorCheck(3)== 1 && sensorCheck(4) == 1) {Position = 45;} //Se ler os dois do meio, está no SetPoint - else if (sensorCheck(3)==1) {Position = 40;} - else if (sensorCheck(4)==1) {Position = 50;} - else if (sensorCheck(2)==1) {Position = 30;} - else if (sensorCheck(5)==1) {Position = 60;} - else if (sensorCheck(1)==1) {Position = 20;} - else if (sensorCheck(6)==1) {Position = 70;} - else if (sensorCheck(0)==1) {Position = 10;} - else if (sensorCheck(7) == 1) {Position = 80;} + else if (sensorCheck(3)==1 && (lastRead == 2 || lastRead==4)) {Position = 40;} + else if (sensorCheck(4)==1 && (lastRead == 3 || lastRead==5)) {Position = 50;} + else if (sensorCheck(2)==1 && (lastRead == 1 || lastRead==3)) {Position = 30;} + else if (sensorCheck(5)==1 && (lastRead == 4 || lastRead==6)) {Position = 60;} + else if (sensorCheck(1)==1 && (lastRead == 0 || lastRead==3)) {Position = 20;} + else if (sensorCheck(6)==1 && (lastRead ==5 || lastRead==7)) {Position = 70;} + else if (sensorCheck(0)==1 && lastRead == 1) {Position = 10;} + else if (sensorCheck(7) == 1 && lastRead = 6) {Position = 80;} //pc.printf("\n\rPosicao: %d", Position); //Print de teste }