MBed program for TR1 functions
Dependencies: mbed Servo ros_lib_melodic DC_Stepper_Controller_Lib
Diff: main.cpp
- Revision:
- 4:d5502eb8adcd
- Parent:
- 3:2441bcef5885
- Child:
- 5:03af248f3f7c
diff -r 2441bcef5885 -r d5502eb8adcd main.cpp --- a/main.cpp Wed Jun 09 10:36:41 2021 +0000 +++ b/main.cpp Fri Jun 11 02:19:26 2021 +0000 @@ -96,7 +96,7 @@ break; case 4: strcpy(msg + len, "square is pressed"); - up = 1; down = 1; + up = 1; down = 1; lock = 1; break; case -4: strcpy(msg + len, "square is released"); @@ -120,24 +120,22 @@ dc_motor1.set_out(0,1); n_loaded++; while(firing2 == 0); - // if(firing2 == 1) -// { - if(n_loaded <= 5) - { - dc_motor1.set_out(0,0.7); - wait(1.2); - dc_motor1.set_out(0,0); - } - else - { - strcpy(msg + len, "right arrow is pressed. "); - strcpy(msg + strlen(msg), "n_loaded cleared!"); - n_loaded = 0; - load_manual = 1; - } + + if(n_loaded <= 5) + { + dc_motor1.set_out(0,0.7); + wait(1.4); + dc_motor1.set_out(0,0); + } + else + { + load_manual = 1; + strcpy(msg + len, "right arrow is pressed. "); + strcpy(msg + strlen(msg), "n_loaded cleared!"); + n_loaded = 0; -// } -// load_manual = 1; + } + break; case -6: @@ -257,13 +255,7 @@ dc_motor1.set_pid(0.008, 0, 0, 0.0); dc_motor2.reset(); dc_motor2.set_pid(0.008, 0, 0, 0.0); -// dc_motor2.set_out(0,0.5); //picker -// wait(0.3); -// dc_motor2.move_angle(100); -// dc_motor2.set_out(0,1); -// dc_motor1.move_angle(100); -// dc_motor1.set_out(0.5,0); // -> testing only - + up = 1; back = 1; down = 0; // Main programming int start = 0; // control variable for resetting shooter int tmp = 0; @@ -279,10 +271,15 @@ { myled = 0; if(!faul_reset && firing1 == 0) +// if(1) { down = 0; up = 1; back = 1; // 101 start = 1; - faul_reset = 1; + memset(msg, 0, sizeof(msg)); + strcpy(msg, "Start resetting Faulhaber: firing1 is "); + msg[strlen(msg)] = '0' + firing1.read(); + responser.publish(&str_msg); +// faul_reset = 1; } else {