Diff: main.cpp

Revision:

3:caa0d4fd1d1d

Parent:

2:d5dc0db74d84

Child:

4:c93e1ecd3359

--- a/main.cpp	Mon Jun 29 17:30:28 2015 +0000
+++ b/main.cpp	Wed Jul 01 18:45:22 2015 +0000
@@ -43,7 +43,7 @@
 float Tailbias=0.0;
 float AngleTail_stand_bias=0.0;
 
-long int FA=1000000,FB=1000000,FE=40,CountA=0,CountB=0,CountE=0;;
+long int FA=1000000,FB=1000000,FE=10,CountA=0,CountB=0,CountE=0;;
 
 int flag;
 int x,y; // Image coordinate
@@ -139,17 +139,17 @@
     PWMD.pulsewidth(period_pwm*AngleRight);//0.08 mid 0.04 forward
 
 }
-/*
+
 void moveE()
 {
  if(directionE)
  {
-     AngleTail=0.09+Tailbias;
+     AngleTail=0.08+Tailbias;
      directionE=!directionE;
  }
  else
  {
-     AngleTail=0.06+Tailbias;
+     AngleTail=0.07+Tailbias;
      directionE=!directionE;
  }
  
@@ -158,8 +158,9 @@
     STBY=1; //disable standby
     PWME.pulsewidth(period_pwm*AngleTail);//0.08 mid 0.04 forward
 }
-*/
+
 
+/*
 void moveE_stand()
 {
 
@@ -170,6 +171,7 @@
     STBY=1; //disable standby
     PWME.pulsewidth(period_pwm*AngleTail);//0.08 mid 0.04 forward
 }
+*/
 void stop()
 {
 //enable standby
@@ -245,7 +247,7 @@
              speedA=0.02;             
              Tailbias=0.015;
              AngleTail_stand_bias=0.015;
-             moveE_stand();
+             //moveE_stand();
              }
              
          else if(y<190&&y>100)
@@ -256,7 +258,7 @@
              speedB=0.02;
              Tailbias=-0.015;
              AngleTail_stand_bias=-0.015;
-             moveE_stand();
+             //moveE_stand();
              }
              else
              {
@@ -268,7 +270,7 @@
                  speedB=0.2;
                  Tailbias=0;
                  AngleTail_stand_bias=0.0;
-                 moveE_stand();
+                 //moveE_stand();
                  }
          if(CountA>=FA)
          {
@@ -290,7 +292,7 @@
                  CountB++;
                  }    
                  
-        /*
+        
         if(CountE>=FE)
         {
                  moveE();
@@ -301,7 +303,7 @@
                      CountE++;
                      }
                  
-        */ //6/29/2015 Tail
+         //6/29/2015 Tail
         if(x<300&&x>100) 
         {
             //AngleLeft=-0.0005*x+0.18;