Robot Bachelor
/
FinalMotorControl
Engine control program with 3 engines
Fork of MotorControl by
main.cpp@10:17a16ceb376b, 2016-04-26 (annotated)
- Committer:
- mjhaugsdal
- Date:
- Tue Apr 26 13:10:22 2016 +0000
- Revision:
- 10:17a16ceb376b
- Parent:
- 9:1636083fce43
- Child:
- 11:ef54754100ea
Testing sequence controlled engines
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rlanghbv | 0:bd78e433db61 | 1 | #include "mbed.h" |
mjhaugsdal | 1:a3287196a9b3 | 2 | #include "rtos.h" |
rlanghbv | 0:bd78e433db61 | 3 | |
rlanghbv | 2:25bcc26f7a5b | 4 | Serial pc(USBTX, USBRX); // tx, rx |
rlanghbv | 0:bd78e433db61 | 5 | |
mjhaugsdal | 1:a3287196a9b3 | 6 | //Analog Pins |
mjhaugsdal | 7:ba0caeb296bb | 7 | //First engine 1-4 |
mjhaugsdal | 5:fdc7a779d525 | 8 | DigitalOut IN1(A0); |
mjhaugsdal | 5:fdc7a779d525 | 9 | DigitalOut IN2(A1); |
mjhaugsdal | 5:fdc7a779d525 | 10 | DigitalOut IN3(A2); |
mjhaugsdal | 5:fdc7a779d525 | 11 | DigitalOut IN4(A3); |
mjhaugsdal | 7:ba0caeb296bb | 12 | //Second engine 5-8 |
mjhaugsdal | 10:17a16ceb376b | 13 | |
mjhaugsdal | 6:ac5d277bd497 | 14 | DigitalOut IN5(D3); |
mjhaugsdal | 6:ac5d277bd497 | 15 | DigitalOut IN6(D4); |
mjhaugsdal | 6:ac5d277bd497 | 16 | DigitalOut IN7(D5); |
mjhaugsdal | 10:17a16ceb376b | 17 | DigitalOut IN8(D6) |
mjhaugsdal | 10:17a16ceb376b | 18 | /* |
mjhaugsdal | 7:ba0caeb296bb | 19 | //Third engine 9-12 |
mjhaugsdal | 7:ba0caeb296bb | 20 | DigitalOut IN9(D8); |
mjhaugsdal | 7:ba0caeb296bb | 21 | DigitalOut IN10(D9); |
mjhaugsdal | 7:ba0caeb296bb | 22 | DigitalOut IN11(D10); |
mjhaugsdal | 9:1636083fce43 | 23 | DigitalOut IN12(D11); */ |
mjhaugsdal | 5:fdc7a779d525 | 24 | |
rlanghbv | 0:bd78e433db61 | 25 | |
mjhaugsdal | 1:a3287196a9b3 | 26 | static int fart = 1000; |
mjhaugsdal | 3:15be78948724 | 27 | static char m_cmd = 'x'; |
mjhaugsdal | 9:1636083fce43 | 28 | /* |
mjhaugsdal | 7:ba0caeb296bb | 29 | void step4Right3() |
rlanghbv | 0:bd78e433db61 | 30 | { |
mjhaugsdal | 7:ba0caeb296bb | 31 | |
mjhaugsdal | 7:ba0caeb296bb | 32 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 33 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 34 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 35 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 36 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 37 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 38 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 39 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 40 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 41 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 42 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 43 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 44 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 45 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 46 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 47 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 48 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 49 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 50 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 51 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 52 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 53 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 54 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 55 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 56 | } |
mjhaugsdal | 10:17a16ceb376b | 57 | */ |
mjhaugsdal | 7:ba0caeb296bb | 58 | void step4Right2() |
mjhaugsdal | 7:ba0caeb296bb | 59 | { |
mjhaugsdal | 7:ba0caeb296bb | 60 | |
mjhaugsdal | 7:ba0caeb296bb | 61 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 62 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 63 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 64 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 65 | IN8=1; |
mjhaugsdal | 7:ba0caeb296bb | 66 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 67 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 68 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 69 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 70 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 71 | IN8=0; |
mjhaugsdal | 1:a3287196a9b3 | 72 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 73 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 74 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 75 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 76 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 77 | IN8=0; |
mjhaugsdal | 1:a3287196a9b3 | 78 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 79 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 80 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 81 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 82 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 83 | IN8=1; |
mjhaugsdal | 1:a3287196a9b3 | 84 | wait_us(fart); |
rlanghbv | 0:bd78e433db61 | 85 | } |
mjhaugsdal | 10:17a16ceb376b | 86 | |
mjhaugsdal | 7:ba0caeb296bb | 87 | void step4Right1() |
rlanghbv | 0:bd78e433db61 | 88 | { |
mjhaugsdal | 6:ac5d277bd497 | 89 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 90 | IN1=0; |
mjhaugsdal | 7:ba0caeb296bb | 91 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 92 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 93 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 94 | wait_us(fart); //legg som global variabel "fart" |
mjhaugsdal | 7:ba0caeb296bb | 95 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 96 | IN1=0; |
mjhaugsdal | 7:ba0caeb296bb | 97 | IN2=1; |
mjhaugsdal | 7:ba0caeb296bb | 98 | IN3=1; |
mjhaugsdal | 7:ba0caeb296bb | 99 | IN4=0; |
mjhaugsdal | 1:a3287196a9b3 | 100 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 101 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 102 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 103 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 104 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 105 | IN4=0; |
mjhaugsdal | 7:ba0caeb296bb | 106 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 107 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 108 | IN1=1; |
mjhaugsdal | 7:ba0caeb296bb | 109 | IN2=0; |
mjhaugsdal | 7:ba0caeb296bb | 110 | IN3=0; |
mjhaugsdal | 7:ba0caeb296bb | 111 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 112 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 113 | } |
mjhaugsdal | 7:ba0caeb296bb | 114 | |
mjhaugsdal | 9:1636083fce43 | 115 | /* |
mjhaugsdal | 7:ba0caeb296bb | 116 | void step4Left3() |
mjhaugsdal | 7:ba0caeb296bb | 117 | { |
mjhaugsdal | 7:ba0caeb296bb | 118 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 119 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 120 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 121 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 122 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 123 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 124 | |
mjhaugsdal | 7:ba0caeb296bb | 125 | |
mjhaugsdal | 7:ba0caeb296bb | 126 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 127 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 128 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 129 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 130 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 131 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 132 | |
mjhaugsdal | 7:ba0caeb296bb | 133 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 134 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 135 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 136 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 137 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 138 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 139 | |
mjhaugsdal | 7:ba0caeb296bb | 140 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 141 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 142 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 143 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 144 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 145 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 146 | |
mjhaugsdal | 7:ba0caeb296bb | 147 | } |
mjhaugsdal | 7:ba0caeb296bb | 148 | |
mjhaugsdal | 10:17a16ceb376b | 149 | */ |
mjhaugsdal | 7:ba0caeb296bb | 150 | void step4Left2() |
mjhaugsdal | 7:ba0caeb296bb | 151 | { |
mjhaugsdal | 7:ba0caeb296bb | 152 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 153 | IN5=1; |
mjhaugsdal | 7:ba0caeb296bb | 154 | IN6=0; |
mjhaugsdal | 7:ba0caeb296bb | 155 | IN7=0; |
mjhaugsdal | 7:ba0caeb296bb | 156 | IN8=1; |
mjhaugsdal | 7:ba0caeb296bb | 157 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 158 | |
mjhaugsdal | 7:ba0caeb296bb | 159 | |
mjhaugsdal | 6:ac5d277bd497 | 160 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 161 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 162 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 163 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 164 | IN8=0; |
mjhaugsdal | 1:a3287196a9b3 | 165 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 166 | |
mjhaugsdal | 7:ba0caeb296bb | 167 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 168 | IN5=0; |
mjhaugsdal | 7:ba0caeb296bb | 169 | IN6=1; |
mjhaugsdal | 7:ba0caeb296bb | 170 | IN7=1; |
mjhaugsdal | 7:ba0caeb296bb | 171 | IN8=0; |
mjhaugsdal | 7:ba0caeb296bb | 172 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 173 | |
mjhaugsdal | 7:ba0caeb296bb | 174 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 175 | IN5=0; |
mjhaugsdal | 7:ba0caeb296bb | 176 | IN6=1; |
mjhaugsdal | 7:ba0caeb296bb | 177 | IN7=0; |
mjhaugsdal | 7:ba0caeb296bb | 178 | IN8=1; |
mjhaugsdal | 7:ba0caeb296bb | 179 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 180 | |
mjhaugsdal | 7:ba0caeb296bb | 181 | } |
mjhaugsdal | 10:17a16ceb376b | 182 | |
mjhaugsdal | 7:ba0caeb296bb | 183 | void step4Left1() |
mjhaugsdal | 7:ba0caeb296bb | 184 | { |
mjhaugsdal | 7:ba0caeb296bb | 185 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 186 | IN1=1; |
mjhaugsdal | 7:ba0caeb296bb | 187 | IN2=0; |
mjhaugsdal | 7:ba0caeb296bb | 188 | IN3=0; |
mjhaugsdal | 7:ba0caeb296bb | 189 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 190 | |
mjhaugsdal | 7:ba0caeb296bb | 191 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 192 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 193 | IN1=1; |
mjhaugsdal | 7:ba0caeb296bb | 194 | IN2=0; |
mjhaugsdal | 7:ba0caeb296bb | 195 | IN3=1; |
mjhaugsdal | 7:ba0caeb296bb | 196 | IN4=0; |
mjhaugsdal | 7:ba0caeb296bb | 197 | |
mjhaugsdal | 7:ba0caeb296bb | 198 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 199 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 200 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 201 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 202 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 203 | IN4=0; |
mjhaugsdal | 7:ba0caeb296bb | 204 | |
mjhaugsdal | 1:a3287196a9b3 | 205 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 206 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 207 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 208 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 209 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 210 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 211 | |
mjhaugsdal | 1:a3287196a9b3 | 212 | wait_us(fart); |
rlanghbv | 0:bd78e433db61 | 213 | } |
rlanghbv | 0:bd78e433db61 | 214 | |
mjhaugsdal | 1:a3287196a9b3 | 215 | |
mjhaugsdal | 1:a3287196a9b3 | 216 | void input(void const *args) |
mjhaugsdal | 1:a3287196a9b3 | 217 | { |
mjhaugsdal | 1:a3287196a9b3 | 218 | while(true) |
mjhaugsdal | 1:a3287196a9b3 | 219 | { |
mjhaugsdal | 3:15be78948724 | 220 | |
rlanghbv | 2:25bcc26f7a5b | 221 | if(pc.readable()) |
mjhaugsdal | 3:15be78948724 | 222 | { m_cmd=pc.getc(); |
mjhaugsdal | 3:15be78948724 | 223 | |
mjhaugsdal | 3:15be78948724 | 224 | } |
rlanghbv | 2:25bcc26f7a5b | 225 | |
rlanghbv | 2:25bcc26f7a5b | 226 | Thread::wait(10); |
mjhaugsdal | 5:fdc7a779d525 | 227 | //pc.printf("%d", steps); |
mjhaugsdal | 1:a3287196a9b3 | 228 | } |
mjhaugsdal | 1:a3287196a9b3 | 229 | } |
rlanghbv | 0:bd78e433db61 | 230 | |
rlanghbv | 0:bd78e433db61 | 231 | int main() |
rlanghbv | 0:bd78e433db61 | 232 | { |
mjhaugsdal | 1:a3287196a9b3 | 233 | //Thread 1 has constant feed from usb |
rlanghbv | 2:25bcc26f7a5b | 234 | Thread t1(input); |
mjhaugsdal | 3:15be78948724 | 235 | static char global_direction; |
mjhaugsdal | 3:15be78948724 | 236 | printf("Started"); |
mjhaugsdal | 3:15be78948724 | 237 | |
mjhaugsdal | 5:fdc7a779d525 | 238 | |
mjhaugsdal | 1:a3287196a9b3 | 239 | while (true) |
mjhaugsdal | 1:a3287196a9b3 | 240 | { |
mjhaugsdal | 4:4d655fdae399 | 241 | //Thread::wait(5); |
mjhaugsdal | 3:15be78948724 | 242 | |
mjhaugsdal | 7:ba0caeb296bb | 243 | if (m_cmd == 't') |
mjhaugsdal | 7:ba0caeb296bb | 244 | |
mjhaugsdal | 7:ba0caeb296bb | 245 | { |
mjhaugsdal | 7:ba0caeb296bb | 246 | step4Left1(); |
mjhaugsdal | 7:ba0caeb296bb | 247 | } |
mjhaugsdal | 7:ba0caeb296bb | 248 | |
mjhaugsdal | 4:4d655fdae399 | 249 | //0 STEPS LEFT AT MAX SPEED |
mjhaugsdal | 3:15be78948724 | 250 | if (m_cmd == '0') |
mjhaugsdal | 3:15be78948724 | 251 | { |
mjhaugsdal | 4:4d655fdae399 | 252 | fart = 1000; |
mjhaugsdal | 5:fdc7a779d525 | 253 | //global_direction = '0'; |
mjhaugsdal | 7:ba0caeb296bb | 254 | step4Left1(); |
mjhaugsdal | 8:5703dadaed07 | 255 | //step4Left2(); |
mjhaugsdal | 8:5703dadaed07 | 256 | //step4Left3(); |
mjhaugsdal | 5:fdc7a779d525 | 257 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 258 | |
mjhaugsdal | 5:fdc7a779d525 | 259 | |
mjhaugsdal | 4:4d655fdae399 | 260 | //printf("LEFT \n"); |
mjhaugsdal | 3:15be78948724 | 261 | //printf("%c \n" + global_direction); |
mjhaugsdal | 3:15be78948724 | 262 | } |
mjhaugsdal | 4:4d655fdae399 | 263 | //1 STEPS RIGHT AT MAX SPEED |
mjhaugsdal | 3:15be78948724 | 264 | else if (m_cmd == '1') |
mjhaugsdal | 3:15be78948724 | 265 | { |
mjhaugsdal | 4:4d655fdae399 | 266 | fart = 1000; |
mjhaugsdal | 5:fdc7a779d525 | 267 | //global_direction = '1'; |
mjhaugsdal | 7:ba0caeb296bb | 268 | step4Right1(); |
mjhaugsdal | 8:5703dadaed07 | 269 | //step4Right2(); |
mjhaugsdal | 8:5703dadaed07 | 270 | // step4Right3(); |
mjhaugsdal | 3:15be78948724 | 271 | } |
mjhaugsdal | 4:4d655fdae399 | 272 | else |
mjhaugsdal | 4:4d655fdae399 | 273 | { |
mjhaugsdal | 5:fdc7a779d525 | 274 | //global_direction = 'x'; |
mjhaugsdal | 4:4d655fdae399 | 275 | } |
mjhaugsdal | 6:ac5d277bd497 | 276 | |
mjhaugsdal | 3:15be78948724 | 277 | if (m_cmd == 'a') |
mjhaugsdal | 3:15be78948724 | 278 | { |
mjhaugsdal | 4:4d655fdae399 | 279 | fart = 2000; |
mjhaugsdal | 5:fdc7a779d525 | 280 | //global_direction = '1'; |
mjhaugsdal | 7:ba0caeb296bb | 281 | step4Right1(); |
mjhaugsdal | 8:5703dadaed07 | 282 | //step4Right2(); |
mjhaugsdal | 8:5703dadaed07 | 283 | //step4Right3(); |
mjhaugsdal | 5:fdc7a779d525 | 284 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 285 | // printf("%i", &steps); |
mjhaugsdal | 3:15be78948724 | 286 | |
mjhaugsdal | 3:15be78948724 | 287 | } |
mjhaugsdal | 4:4d655fdae399 | 288 | |
mjhaugsdal | 4:4d655fdae399 | 289 | else if (m_cmd == 'c') |
mjhaugsdal | 3:15be78948724 | 290 | { |
mjhaugsdal | 4:4d655fdae399 | 291 | fart = 2000; |
mjhaugsdal | 5:fdc7a779d525 | 292 | //global_direction = '0'; |
mjhaugsdal | 7:ba0caeb296bb | 293 | step4Left1(); |
mjhaugsdal | 8:5703dadaed07 | 294 | //step4Left2(); |
mjhaugsdal | 8:5703dadaed07 | 295 | //step4Left3(); |
mjhaugsdal | 5:fdc7a779d525 | 296 | |
mjhaugsdal | 5:fdc7a779d525 | 297 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 298 | // printf("%i", &steps); |
mjhaugsdal | 3:15be78948724 | 299 | } |
mjhaugsdal | 5:fdc7a779d525 | 300 | else if (m_cmd == 'k') |
mjhaugsdal | 1:a3287196a9b3 | 301 | { |
mjhaugsdal | 10:17a16ceb376b | 302 | int steps1 = 50; |
mjhaugsdal | 10:17a16ceb376b | 303 | int steps2 = 50; |
mjhaugsdal | 5:fdc7a779d525 | 304 | |
mjhaugsdal | 5:fdc7a779d525 | 305 | |
mjhaugsdal | 6:ac5d277bd497 | 306 | //Steps = 242 gives a 60' rotation to the left. |
mjhaugsdal | 10:17a16ceb376b | 307 | while (steps1 >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 308 | { |
mjhaugsdal | 7:ba0caeb296bb | 309 | step4Left1(); |
mjhaugsdal | 8:5703dadaed07 | 310 | //step4Left2(); |
mjhaugsdal | 8:5703dadaed07 | 311 | //step4Left3(); |
mjhaugsdal | 10:17a16ceb376b | 312 | steps1--; |
mjhaugsdal | 10:17a16ceb376b | 313 | } |
mjhaugsdal | 10:17a16ceb376b | 314 | while (steps2 >= 0) |
mjhaugsdal | 10:17a16ceb376b | 315 | { |
mjhaugsdal | 10:17a16ceb376b | 316 | step4Left2(); |
mjhaugsdal | 10:17a16ceb376b | 317 | |
mjhaugsdal | 10:17a16ceb376b | 318 | steps2--; |
mjhaugsdal | 5:fdc7a779d525 | 319 | } |
mjhaugsdal | 5:fdc7a779d525 | 320 | m_cmd = 'x'; |
mjhaugsdal | 3:15be78948724 | 321 | } |
mjhaugsdal | 5:fdc7a779d525 | 322 | else if (m_cmd == 'l') |
mjhaugsdal | 5:fdc7a779d525 | 323 | { |
mjhaugsdal | 6:ac5d277bd497 | 324 | int steps = 242; |
mjhaugsdal | 6:ac5d277bd497 | 325 | //Steps = 242 gives a 60' rotation to the right. |
mjhaugsdal | 5:fdc7a779d525 | 326 | while (steps >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 327 | { |
mjhaugsdal | 7:ba0caeb296bb | 328 | step4Right1(); |
mjhaugsdal | 8:5703dadaed07 | 329 | //step4Right2(); |
mjhaugsdal | 8:5703dadaed07 | 330 | //step4Right3(); |
mjhaugsdal | 5:fdc7a779d525 | 331 | steps--; |
mjhaugsdal | 5:fdc7a779d525 | 332 | } |
mjhaugsdal | 5:fdc7a779d525 | 333 | m_cmd = 'x'; |
mjhaugsdal | 5:fdc7a779d525 | 334 | |
mjhaugsdal | 5:fdc7a779d525 | 335 | } |
mjhaugsdal | 5:fdc7a779d525 | 336 | |
mjhaugsdal | 5:fdc7a779d525 | 337 | |
mjhaugsdal | 5:fdc7a779d525 | 338 | |
mjhaugsdal | 4:4d655fdae399 | 339 | |
mjhaugsdal | 1:a3287196a9b3 | 340 | } |
mjhaugsdal | 1:a3287196a9b3 | 341 | |
mjhaugsdal | 3:15be78948724 | 342 | } //END Main |