mmotor
/
MarsRover_ExoMars____
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Dependencies: EPOS2 mbed-rtos mbed
Fork of
MarsRover_ExoMars
by 
mmotor
Diff: main.cpp
- Revision:
- 15:c31c862632c0
- Parent:
- 14:bee23de5dff0
--- a/main.cpp Thu Nov 03 10:36:46 2016 +0000
+++ b/main.cpp Fri Nov 04 12:24:23 2016 +0000
@@ -76,7 +76,7 @@
canOpen.start(); //Start defined CanOpen Network
EPOS2 MyEpos1(&canOpen, 1); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
- EPOS2 MyEpos2(&canOpen, 2); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
+ EPOS2 MyEpos2(&canOpen, 2); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
EPOS2 MyEpos3(&canOpen, 3); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
EPOS2 MyEpos4(&canOpen, 4); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
EPOS2 MyEpos5(&canOpen, 5); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
@@ -331,6 +331,7 @@
case 4:
if (MyEpos1.TargetReached()==1 and MyEpos3.TargetReached()==1){
+ MyEpos6.SetDigOut(4,0);//Bohrkopfbeleuchtung
MyEpos6.MoveAbsolute(-76000,500*speed,100*speed,100*speed); //Bohrgestell
ausfahren_step = 5;
wait(1);
@@ -397,6 +398,7 @@
case 3:
// if (MyEpos7.TargetReached()==1){
+ MyEpos5.SetDigOut(0,0);//Beleuchtung AUS
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;