mmotor / Mbed 2 deprecated MarsRover_ExoMars

Programm mit Ablauf

Dependencies:   EPOS2 mbed-rtos mbed

Fork of Projekt_Kugelbahn by mmotor

Files at this revision

API Documentation at this revision

Revision 16:e5343d6c9fb2, committed 2016-11-07

Comitter:
joe_feubli
Date:
Mon Nov 07 07:33:03 2016 +0000
Parent:
14:bee23de5dff0
Commit message:
Ablauffehler behoben

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Nov 03 10:36:46 2016 +0000
+++ b/main.cpp	Mon Nov 07 07:33:03 2016 +0000
@@ -132,6 +132,10 @@
                 wait(0.1);
                 pc.printf("Bohrgestell/Bohrer ErrorState: Bohrgestell=%d, Bohrer=%d\r\n", ErrorState6, ErrorState7);
                 }
+                
+            if(buffering == 1){
+                current_step = 5;
+                }
             
             switch (current_step){
                 case 1://HOMING:
@@ -396,12 +400,12 @@
                                 break;
                                 
                             case 3:
-//                                    if (MyEpos7.TargetReached()==1){
+                                if (MyEpos6.TargetReached()==1){
                                     MyEpos1.MoveAbsolute(10000,500*speed,100*speed,100*speed); //Panel Aussen Links
                                     MyEpos3.MoveAbsolute(-10000,500*speed,100*speed,100*speed); //Panel Aussen Rechts
                                     einfahren_step = 4;
-//                                    wait(1);
-//                                    }
+                                    wait(1);
+                                    }
                                 wait(0.1);
                                 break;
                                 
@@ -451,7 +455,7 @@
                     MyEpos5.SetDigOut(4,1);
                     switch (usv_step){
                         case 0:
-                        pc.printf("USV 0\n");
+                            pc.printf("USV 0\n");
                             wait(0.1);
                             MyEpos1.Power(1);
                             MyEpos2.Power(1);
@@ -465,7 +469,7 @@
                             break;
                             
                         case 1:
-                        pc.printf("USV 1\n");
+                            pc.printf("USV 1\n");
                             MyEpos1.MoveAbsolute(2000,500,500,500); //Panel_Aussen_Links
                             MyEpos3.MoveAbsolute(-2000,500,500,500); //Panel_Aussen_Rechts
                             MyEpos7.MoveAbsolute(0,2000,500,500); //Bohrer
@@ -488,7 +492,7 @@
                             MyEpos6.MoveAbsolute(0,500,100,100); //Bohrgestell
                             wait(0.1);
 
-                            if (MyEpos2.TargetReached()==1 and MyEpos4.TargetReached()==1 /*and MyEpos6.TargetReached()==1*/){
+                            if (MyEpos2.TargetReached()==1 and MyEpos4.TargetReached()==1 and MyEpos6.TargetReached()==1){
                                 usv_step = 3;
                                 wait(0.1);
                                 }