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Move.cpp@1:3d46a0660d05, 2019-04-12 (annotated)
- Committer:
- DanielleKruijver
- Date:
- Fri Apr 12 09:55:53 2019 +0000
- Revision:
- 1:3d46a0660d05
Main SBT controllll
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DanielleKruijver | 1:3d46a0660d05 | 1 | |
DanielleKruijver | 1:3d46a0660d05 | 2 | #include "Move.h" |
DanielleKruijver | 1:3d46a0660d05 | 3 | #include "mbed.h" |
DanielleKruijver | 1:3d46a0660d05 | 4 | #include "rtos.h" |
DanielleKruijver | 1:3d46a0660d05 | 5 | |
DanielleKruijver | 1:3d46a0660d05 | 6 | extern RawSerial pc; |
DanielleKruijver | 1:3d46a0660d05 | 7 | extern CAN can; |
DanielleKruijver | 1:3d46a0660d05 | 8 | |
DanielleKruijver | 1:3d46a0660d05 | 9 | void MOVE::Move(){ |
DanielleKruijver | 1:3d46a0660d05 | 10 | EPOS epos1(1); |
DanielleKruijver | 1:3d46a0660d05 | 11 | EPOS epos2(2); |
DanielleKruijver | 1:3d46a0660d05 | 12 | EPOS epos4(4); |
DanielleKruijver | 1:3d46a0660d05 | 13 | |
DanielleKruijver | 1:3d46a0660d05 | 14 | float quartercircles_left = 0; |
DanielleKruijver | 1:3d46a0660d05 | 15 | float quartercircles_right = 0; |
DanielleKruijver | 1:3d46a0660d05 | 16 | float quartercircles_back = 0; |
DanielleKruijver | 1:3d46a0660d05 | 17 | |
DanielleKruijver | 1:3d46a0660d05 | 18 | DataStore::AngleWings alphas = m_FtoW_data -> GetWingData(); |
DanielleKruijver | 1:3d46a0660d05 | 19 | quartercircles_left = (-366889/alphas.Wing_left); //366889 qc bij 1 rad hoekverdraaiing |
DanielleKruijver | 1:3d46a0660d05 | 20 | quartercircles_right = (-366889/alphas.Wing_right); //366889 qc bij 1 rad hoekverdraaiing |
DanielleKruijver | 1:3d46a0660d05 | 21 | quartercircles_back = (-500000/alphas.Wing_back); //NOG AANPASSEN!!! |
DanielleKruijver | 1:3d46a0660d05 | 22 | |
DanielleKruijver | 1:3d46a0660d05 | 23 | int teller = 0; |
DanielleKruijver | 1:3d46a0660d05 | 24 | teller += can.write(epos1.GoToPosition(quartercircles_right)); |
DanielleKruijver | 1:3d46a0660d05 | 25 | pc.printf("Waarde van teller is: %i \r\n", teller); |
DanielleKruijver | 1:3d46a0660d05 | 26 | wait(5); |
DanielleKruijver | 1:3d46a0660d05 | 27 | teller += can.write(epos2.GoToPosition(quartercircles_left)); |
DanielleKruijver | 1:3d46a0660d05 | 28 | pc.printf("Waarde van teller is: %i \r\n", teller); |
DanielleKruijver | 1:3d46a0660d05 | 29 | wait(5); |
DanielleKruijver | 1:3d46a0660d05 | 30 | teller += can.write(epos4.GoToPosition(quartercircles_back)); |
DanielleKruijver | 1:3d46a0660d05 | 31 | pc.printf("Waarde van teller is: %i \r\n", teller); |
DanielleKruijver | 1:3d46a0660d05 | 32 | wait(5); |
DanielleKruijver | 1:3d46a0660d05 | 33 | } |
DanielleKruijver | 1:3d46a0660d05 | 34 |