UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

lift.cpp

Committer:
MikeGray92
Date:
2018-12-14
Revision:
13:8630f38f8066
Parent:
10:836e701d00a6
Child:
15:aeb817f93336

File content as of revision 13:8630f38f8066:

 
#include <stdint.h>
#include "mbed.h"
#include <ros.h>
#include <std_msgs/Empty.h>
#include <std_msgs/Int32MultiArray.h>
#include <BNO055.h>
#include <initializations.h>
#include <definitions.h>
#include <prototypes.h>
#include <Mx28.h>

bool startFlag = 0;

void runLift(void){
    stallCheck();
    //Check If Arrived
    if (abs(control.height - currentPosition) < 6){ 
        liftSpeed.write(0);
        stopHallInt();
        startFlag = 0;
    }
    else {
        value1.write(1);
        if(startFlag == 0){
            startHallInt();
            startFlag = 1;
        }   
        // Set direction
        if(control.height > currentPosition){
            liftDirection.write(LIFTUP);   
        }
        else if(control.height < currentPosition){
            liftDirection.write(LIFTDOWN);
        }         
       // liftSpeed.write(liftDutyCycle);
       liftSpeed.write(0.4);
    }  
}

//Determining if the lift stalled and stopping if it is
void stallCheck(void){
    if(stallcount > 3 && liftSpeed.read() > 0 && eStopFlag == 0){
        liftSpeed.write(0);
        if (liftDirection.read() == LIFTUP){
            currentPosition = LIFTHEIGHTMAX;
            control.height = LIFTHEIGHTMAX;
        }else{
            currentPosition = 0;
            control.height = 0;
        }
    } 
}