Diff: Motor_tryout.cpp

Revision:

26:432d3519ba86

Parent:

25:eb3204e45d33

Child:

27:3eb181cbe183

--- a/Motor_tryout.cpp	Tue Oct 29 08:48:48 2019 +0000
+++ b/Motor_tryout.cpp	Tue Oct 29 10:05:50 2019 +0000
@@ -202,25 +202,20 @@
 
     if (steps1 <= 0)  {
         if(counts1<=steps1) {
-            pulses1.detach();
             pc.printf("\n 1 is false");
-
             motor1_pwm.write(0);
             check1=false;
             }
         if (counts2<=steps2)   {
-                            pulses2.detach();
             pc.printf("\n 2 is false");
             motor2_pwm.write(0);
             check2=false;
             }
         if (counts3>=abs(steps3))  {
-                            pulses3.detach();
             pc.printf("\n 3 is false");
             motor3_pwm.write(0);
             check3=false;
-            //pc.printf("\n\rsteps %f, counts %f", steps3, counts3);
-                    pc.printf("\n\rsteps3 %f", steps3);
+        pc.printf("\n\rsteps3 %f", steps3);
         pc.printf("\n\rcounts3 %i", counts3);
             }
         }
@@ -243,7 +238,7 @@
         }
 
     }
-    //Encoder1.reset();
+
             wait(1.0);
         pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3);
 }
@@ -252,15 +247,20 @@
     pulses1.attach(&getpulses1, 1.0/1000);
     pulses2.attach(&getpulses2, 1.0/1000);
     pulses3.attach(&getpulses3, 1.0/1000);
-    Encoder1.reset();
-    Encoder2.reset();
-    Encoder3.reset();
-    
+
     pc.baud(115200);
         
     char cc = pc.getc();
 
     while(true)     {
+    
+    Encoder1.reset();
+    Encoder2.reset();
+    Encoder3.reset();
+    counts1 = Encoder1.getPulses();
+    counts2 = Encoder2.getPulses();
+    counts3 = Encoder3.getPulses();
+    
 
     delta_calcinverse(x0,y0,z0);