UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

Diff: lift.cpp

Revision:
10:836e701d00a6
Parent:
7:950b3c3b5a2b
Child:
13:8630f38f8066
--- a/lift.cpp	Mon Mar 26 21:32:30 2018 +0000
+++ b/lift.cpp	Thu Apr 26 18:33:11 2018 +0000
@@ -1,4 +1,4 @@
-
+ 
 #include <stdint.h>
 #include "mbed.h"
 #include <ros.h>
@@ -15,12 +15,13 @@
 void runLift(void){
     stallCheck();
     //Check If Arrived
-    if (abs(control.height - currentPosition) < 5){ 
+    if (abs(control.height - currentPosition) < 6){ 
         liftSpeed.write(0);
         stopHallInt();
         startFlag = 0;
     }
     else {
+        value1.write(1);
         if(startFlag == 0){
             startHallInt();
             startFlag = 1;
@@ -32,20 +33,20 @@
         else if(control.height < currentPosition){
             liftDirection.write(LIFTDOWN);
         }         
-        liftSpeed.write(0.5);
+        liftSpeed.write(liftDutyCycle);
     }  
 }
 
 //Determining if the lift stalled and stopping if it is
 void stallCheck(void){
-    if(stallcount > 3 && liftSpeed.read() > 0){
+    if(stallcount > 3 && liftSpeed.read() > 0 && eStopFlag == 0){
         liftSpeed.write(0);
         if (liftDirection.read() == LIFTUP){
             currentPosition = LIFTHEIGHTMAX;
-            control.height = currentPosition;
+            control.height = LIFTHEIGHTMAX;
         }else{
             currentPosition = 0;
-            control.height = currentPosition;
+            control.height = 0;
         }
     } 
 }
\ No newline at end of file