Diff: main.cpp

Revision:

4:8fb30d6c2855

Parent:

3:fbc9de097e4f

Child:

5:524e83ec5174

--- a/main.cpp	Thu Sep 22 07:39:21 2016 +0000
+++ b/main.cpp	Thu Sep 22 07:58:15 2016 +0000
@@ -23,13 +23,14 @@
 int counter=0;
 int counter2=0;
 bool start = true;
-int current_step = 1;
+
 int counter_s = false;
 int counter_s2 = false;
 */
 int ausfahren = false;
 int einfahren = false;     
-                         
+int current_step = 1;     
+                  
 int main(){                                          ///////// Main
         pc.baud(9600);
         
@@ -88,21 +89,21 @@
                     MyEpos1.Homing(); //Solarpanel_Aussen_Links
                     MyEpos3.Homing(); //Solarpanel_Aussen_Rechts
                     MyEpos7.Homing(); //Bohrer
-                    while (MyEpos2.GetDigIn(4)!1) or (MyEpos4.GetDigIn(4)!1){ //warten solange Solarpanels Aussen NICHT in Grundposition
+                    while (MyEpos2.GetDigIn(4)!=1 or MyEpos4.GetDigIn(4)!=1){ //warten solange Solarpanels Aussen NICHT in Grundposition
                         wait(0.1);
                         }
                     MyEpos2.Homing(); //Solarpanel_Innen_Links
                     MyEpos4.Homing(); //Solarpanel_Innen_Rechts
                        
-                    while (MyEpos7.GetDigIn(4)!1){ //warten solange Bohrer NICHT eingefahren
+                    while (MyEpos7.GetDigIn(4)!=1){ //warten solange Bohrer NICHT eingefahren
                         wait(0.1);
                         }
                     MyEpos6.Homing();//Bohrgestell   
-                    while (MyEpos1.GetDigIn(4)!1) or (MyEpos3.GetDigIn(4)!1) { //warten solange Solarpanels Innen NICHT in Grundposition
+                    while (MyEpos1.GetDigIn(4)!=1 or MyEpos3.GetDigIn(4)!=1) { //warten solange Solarpanels Innen NICHT in Grundposition
                         wait(0.1);
                         }
                     MyEpos5.Homing();//Kopf
-                    while (MyEpos5.GetDigIn(4)!1) { //warten solange Kopf NICHT in Grundposition
+                    while (MyEpos5.GetDigIn(4)!=1) { //warten solange Kopf NICHT in Grundposition
                         wait(0.1);
                         }
                     current_step = 2;//BEREIT;
@@ -110,7 +111,7 @@
                     
              
                 case 2://BEREIT:
-                    while (MyEpos6.GetDigIn(1)!1) { //Kontrolle ob: Kopf in Grundposition
+                    while (MyEpos6.GetDigIn(1)!=1) { //Kontrolle ob: Kopf in Grundposition
                         wait_ms(10);
                         }
                     current_step = 3;//START_AUSFAHREN
@@ -170,7 +171,7 @@
                                 
  
                 case 5://USV:
-                    while (MyEpos.GetDigIn()){
+                    while (MyEpos1.GetDigIn()){
                         MyEpos1.MoveAbsolute(0,200,500,500); //Panel_Aussen_Links
                         MyEpos3.MoveAbsolute(0,200,500,500); //Panel_Aussen_Rechts
                         MyEpos7.MoveAbsolute(0,200,500,500); // Bohrer
@@ -179,6 +180,7 @@
                             MyEpos4.MoveAbsolute(0,200,500,500); //Panel_Innen_Rechts
                             if (MyEpos2.TargetReached()==1 && MyEpos4.TargetReached()==1){
                                 MyEpos5.MoveAbsolute(0,200,500,500); //Kopf
+                                }
                             }
                         if (MyEpos7.TargetReached()==1){
                                 MyEpos6.MoveAbsolute(0,200,500,500); //Bohrgestell