emg zooi er op
Dependencies: HIDScope MODSERIAL QEI mbed
Fork of Wearealltogheter_goed by
Diff: main.cpp
- Revision:
- 25:6dcf79346c40
- Parent:
- 24:bdd74b91abbb
- Child:
- 26:c640851fa1e7
diff -r bdd74b91abbb -r 6dcf79346c40 main.cpp --- a/main.cpp Thu Oct 27 08:12:25 2016 +0000 +++ b/main.cpp Thu Oct 27 09:10:32 2016 +0000 @@ -218,10 +218,10 @@ } void GoBack() { - while (GetPositionM2() > 0) { + while (GetPositionM2() < 0) { M3_Speed = 0; M2_Speed = 1; - M2_Rotate = 0; + M2_Rotate = 1; pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2()); led_r = 0; } @@ -243,13 +243,14 @@ void Burgerflip() { - if (GetPositionM2() > afstand) { + pc.printf("get position %f, get rotation %f \n \r", GetPositionM2(), GetRotationM3()); + if (GetPositionM2()< afstand) { M3_Speed = 0.2; - M3_Rotate = 1; + M3_Rotate = 0; M2_Speed = 0; - } else if (GetPositionM2() < afstand) { + } else if (GetPositionM2() > afstand) { M2_Speed = 1; - M2_Rotate = 1; + M2_Rotate = 0; } if (GetRotationM3() > 150) { @@ -284,7 +285,7 @@ } if (calibrate == true) { - pc.printf("calibration complete, left = %f, right = %f \n \r", threshold_Left, threshold_Right); + //pc.printf("calibration complete, left = %f, right = %f \n \r", threshold_Left, threshold_Right); GetDirections(); if (draairechts == true) { M1_Speed = 0.2; @@ -305,7 +306,7 @@ if ((draailinks == false) && (draairechts == false)) { M1_Speed = 0; } - pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2()); + //pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2()); /* pulses = 8400 */ /*empty loop, sample() is executed periodically*/ }