Robot Bachelor
Engine control program with 3 engines Needs to make a case for each simultaneous engine setting, because of the WAIT after each number of bits have been sent.
Dependencies: mbed-rtos mbed PinDetect
Fork of
FinalMotorControl
by 
Robot Bachelor
Diff: main.cpp
- Revision:
- 29:00f839aad30e
- Parent:
- 28:dac262b7ab32
- Child:
- 30:fac5b5624fe3
--- a/main.cpp Thu Jun 02 07:53:41 2016 +0000
+++ b/main.cpp Thu Jul 07 08:53:21 2016 +0000
@@ -47,6 +47,7 @@
static bool e2 = true;
static bool e3 = true;
static bool rest = false;
+static int i = 0;
static int steps1 = 0;
static int steps2 = 0;
@@ -481,9 +482,9 @@
{
e1 = false;
- speed = 2000;
+ speed = 1000;
Thread::wait(1000);
- int stepsToCenter = 242;
+ int stepsToCenter = i/2;
while (stepsToCenter >= 0)
{
@@ -505,9 +506,9 @@
e1 = false;
//m_cmd = 'x';
- speed = 2000;
+ speed = 1000;
Thread::wait(1000);
- int stepsToCenter = 242;
+ int stepsToCenter = i/2;
while (stepsToCenter >= 0)
{
@@ -525,9 +526,9 @@
{
e2 = false;
//m_cmd = 'x';
- speed = 2000;
+ speed = 1000;
Thread::wait(1000);
- int stepsToCenter = 242;
+ int stepsToCenter = i/2;
while (stepsToCenter >= 0)
{
@@ -547,9 +548,9 @@
{
e2 = false;
//m_cmd = 'x';
- speed = 2000;
+ speed = 1000;
Thread::wait(1000);
- int stepsToCenter = 242;
+ int stepsToCenter = i/2;
while (stepsToCenter >= 0)
{
@@ -570,9 +571,9 @@
{
e3 = false;
//m_cmd = 'x';
- speed = 2500;
+ speed = 1000;
Thread::wait(1000);
- int stepsToCenter = 200;
+ int stepsToCenter = i/2;
while (stepsToCenter >= 0)
{
@@ -593,9 +594,9 @@
{
e3 = false;
//m_cmd = 'x';
- speed = 2000;
+ speed = 1000;
Thread::wait(1000);
- int stepsToCenter = 280;
+ int stepsToCenter = i/2;
while (stepsToCenter >= 0)
{
@@ -634,15 +635,26 @@
while (true)
{
-
+/*
while(bootStep1 >= 0)
{
bootStep1--;
stepEngine1Right();
- }
+ } */
stepEngine1Left();
if (e1 == false)
{
+ e1 = true;
+ while(true)
+ {
+
+ stepEngine1Right();
+ i++;
+ if(e1 == false)
+ break;
+
+ }
+
Thread::wait(1000);
break;
}//end if
@@ -658,17 +670,27 @@
while (true)
{
- speed = 2000;
- while(bootStep2 >= 0)
+ speed = 1000;
+ /* while(bootStep2 >= 0)
{
bootStep2--;
stepEngine2Right();
- }
+ } */
stepEngine2Left();
if (e2 == false)
{
+ e2 = true;
+ while(true)
+ {
+
+ stepEngine2Right();
+ i++;
+ if(e2 == false)
+ break;
+
+ }
Thread::wait(1000);
break;
@@ -682,17 +704,27 @@
while (true)
{
//speed = 2000;
- while(bootStep3 >= 0)
+ /* while(bootStep3 >= 0)
{
bootStep3--;
stepEngine3Right();
- }
+ } */
stepEngine3Left();
if (e3 == false)
{
+ e3 = true;
+ while(true)
+ {
+
+ stepEngine3Right();
+ i++;
+ if(e3 == false)
+ break;
+
+ }
//pc.printf("HALLO");
- m_cmd = "z";
+ m_cmd = 'z';
Thread::wait(1000);
break;
}//end if
@@ -706,12 +738,12 @@
if(SW==1)
{
//put engines to sleep
- m_cmd ="z";
+ m_cmd ='z';
}
//set the speed. Higher = slower
- speed = 2000;
+ speed = 1000;
//speed = 1500;
switch (m_cmd)
@@ -901,8 +933,6 @@
}
-
-
//Thread::wait(10);
//pc.printf("%d", steps2);