UVic Assistive Technology Lab
/
DSLR_Camera_Gimbal
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Dependencies: mbed ros_lib_kinetic
Diff: lift.cpp
- Revision:
- 1:1ac7d472cfa2
- Parent:
- 0:3a767f41cf04
- Child:
- 2:0537a8007a39
--- a/lift.cpp Wed Jan 31 05:24:12 2018 +0000
+++ b/lift.cpp Tue Feb 06 20:50:55 2018 +0000
@@ -21,17 +21,16 @@
liftDirection.write(LIFTDOWN);
}
// Check if arrived at destination height.
- if (control.height == currentPosition){
+ if (abs(control.height - currentPosition) < 5){
control.liftRun = FALSE;
liftSpeed.write(0);
}
else {
liftSpeed.write(0.5);
- checkLift(currentPosition, stall);
// Check for stalling
if(stall && liftSpeed.read() > 0){
- stall = FALSE;
- control.liftRun = FALSE;
+ stall = false;
+ control.liftRun = false;
liftSpeed.write(0);
if (liftDirection.read() == LIFTUP){
currentPosition = LIFTHEIGHTMAX;
@@ -43,92 +42,92 @@
}
}
-// Keeps track of the rotation of the lift motor. After one full rotation up,
-// increments *position. If the motor doesn't rotate within
-// ((STALLTIME * HALLCHECKTIME * 4)/10^6) seconds, will set *stall TRUE.
-void checkLift(int& position, bool& stall) {
-
- static char state = 0;
- static char hallState1 = 0;
- static char hallState2 = 0;
- static char hallState1count = 0;
- static char hallState2count = 0;
- static char debounce = 0;
- static int stallcount = 0;
- int movementStart = position;
-
- // Debounce the hall sensors. Check them 3 times, if they are
- // high for 2 or more, set them as high, else low.
- if (debounce< 3){
- if (hallSensor1){
- hallState1count++;
- }
- if (hallSensor2){
- hallState2count++;
- }
- debounce++;
- }else{
- if (hallState1count > 1){
- hallState1 = 1;
- }else{
- hallState1 = 0;
- }
- if (hallState2count > 1){
- hallState2 = 1;
- }else{
- hallState2 = 0;
- }
- hallState1count = 0;
- hallState2count = 0;
-
- switch (state){
-
- case 0: // Hall 1 - low, Hall 2 - low
- if (hallState2 == 1){
- state = 1;
- position++;
- } else if (hallState1 == 1){
- state = 3;
- }
- break;
-
- case 1: // Hall 1 - low, Hall 2 - high
- if (hallState1 == 1){
- state = 2;
- } else if (hallState2 == 0){
- state = 0;
- position--;
- }
- break;
-
- case 2: // Hall 1 - high, Hall 2 - high
- if (hallState2 == 0){
- state = 3;
- } else if (hallState1 == 0){
- state = 1;
- }
- break;
-
- case 3: // Hall 1 - high, Hall 2 - low
- if (hallState1 == 0){
- state = 0;
- } else if (hallState2 == 1){
- state = 2;
- }
- break;
- }
- debounce = 0;
-
- // Check for stalling
- if (movementStart == position){
- stallcount++;
- if (stallcount >= STALLTIME){
- stall = TRUE;
- }
- } else{
- stallcount = 0;
- stall = FALSE;
- }
-
- }
-}
\ No newline at end of file
+//// Keeps track of the rotation of the lift motor. After one full rotation up,
+//// increments *position. If the motor doesn't rotate within
+//// ((STALLTIME * HALLCHECKTIME * 4)/10^6) seconds, will set *stall TRUE.
+//void checkLift(int& position, bool& stall) {
+//
+// static char state = 0;
+// static char hallState1 = 0;
+// static char hallState2 = 0;
+// static char hallState1count = 0;
+// static char hallState2count = 0;
+// static char debounce = 0;
+// static int stallcount = 0;
+// int movementStart = position;
+//
+// // Debounce the hall sensors. Check them 3 times, if they are
+// // high for 2 or more, set them as high, else low.
+// if (debounce< 3){
+// if (hallSensor1){
+// hallState1count++;
+// }
+// if (hallSensor2){
+// hallState2count++;
+// }
+// debounce++;
+// }else{
+// if (hallState1count > 1){
+// hallState1 = 1;
+// }else{
+// hallState1 = 0;
+// }
+// if (hallState2count > 1){
+// hallState2 = 1;
+// }else{
+// hallState2 = 0;
+// }
+// hallState1count = 0;
+// hallState2count = 0;
+//
+// switch (state){
+//
+// case 0: // Hall 1 - low, Hall 2 - low
+// if (hallState2 == 1){
+// state = 1;
+// position++;
+// } else if (hallState1 == 1){
+// state = 3;
+// }
+// break;
+//
+// case 1: // Hall 1 - low, Hall 2 - high
+// if (hallState1 == 1){
+// state = 2;
+// } else if (hallState2 == 0){
+// state = 0;
+// position--;
+// }
+// break;
+//
+// case 2: // Hall 1 - high, Hall 2 - high
+// if (hallState2 == 0){
+// state = 3;
+// } else if (hallState1 == 0){
+// state = 1;
+// }
+// break;
+//
+// case 3: // Hall 1 - high, Hall 2 - low
+// if (hallState1 == 0){
+// state = 0;
+// } else if (hallState2 == 1){
+// state = 2;
+// }
+// break;
+// }
+// debounce = 0;
+//
+// // Check for stalling
+// if (movementStart == position){
+// stallcount++;
+// if (stallcount >= STALLTIME){
+// stall = TRUE;
+// }
+// } else{
+// stallcount = 0;
+// stall = FALSE;
+// }
+//
+// }
+//}
\ No newline at end of file