Diff: OperationMode.cpp

Revision:

13:9125d359619c

Parent:

12:cae29e41ac2e

Child:

14:771cd444764b

--- a/OperationMode.cpp	Wed Oct 31 21:21:13 2018 +0000
+++ b/OperationMode.cpp	Thu Nov 01 08:23:55 2018 +0000
@@ -49,7 +49,7 @@
             }
             if (button_sw3 == false) {
                 CurrentOperationState = OPSet;
-                TimreLoop.reset();
+                TimerLoop.reset();
             }
             break;
             
@@ -57,11 +57,11 @@
             LedRed = 1; //turqoise
             LedGreen = 0;
             LedBlue = 0;
-            if (PositionRef2 > -0.853*(6.380)) {
+            if (PositionRef2 > -0.733*(6.380)) {
                 PositionRef2 -= 0.0005*(6.380);
                 }
-            if (PositionRef2 < -0.853*(6.380) && TimerLoop > 2) {
-                CurrentOperationState = OPState1;
+            if (PositionRef2 < -0.733*(6.380) && TimerLoop > 2) {
+                CurrentOperationState = OPWait;
                 TimerLoop.reset();
                 }
             break;
@@ -83,10 +83,10 @@
             LedRed = 0; //white
             LedGreen = 0;
             LedBlue = 0;
-            if (PositionRef2 > -0.40*(6.380)) {
+            if (PositionRef2 > -1.133*(6.380)) {
                 PositionRef2 -= 0.0005*(6.380);
             }
-            if ((PositionRef2 < -0.40*(6.380)) && (TimerLoop >= 4.0)) {
+            if ((PositionRef2 < -1.133*(6.380)) && (TimerLoop >= 4.0)) {
                 CurrentOperationState = OPState3;
                 TimerLoop.reset();
             }
@@ -99,10 +99,10 @@
             if (PositionRef > -0.15*(6.380)) {
                 PositionRef -= 0.0005*(6.380);
             }
-            if (PositionRef2 > -0.75*(6.380)) {
+            if (PositionRef2 > -1.483*(6.380)) {
                 PositionRef2 -= 0.0002*(6.380);
             }
-            if ((PositionRef < -0.15*(6.380)) && (PositionRef2 < -0.75*(6.380)) && (TimerLoop >= 4.0)) {
+            if ((PositionRef < -0.15*(6.380)) && (PositionRef2 < -1.483*(6.380)) && (TimerLoop >= 4.0)) {
                 CurrentOperationState = OPState4;
                 TimerLoop.reset();
             }
@@ -112,10 +112,10 @@
             LedRed = 1; //blue
             LedGreen = 1;
             LedBlue = 0;
-            if (PositionRef2 > -1.4*(6.380)) {
+            if (PositionRef2 > -2.133*(6.380)) {
                 PositionRef2 -= 0.005*(6.380);
             }
-            if ((PositionRef2 < -1.4*(6.380)) && (TimerLoop > 4)) {
+            if ((PositionRef2 < -2.133*(6.380)) && (TimerLoop > 4)) {
                 TimerLoop.reset();
                 CurrentOperationState = OPHoming;
             }
@@ -128,10 +128,10 @@
             if (PositionRef < 0) {
                 PositionRef += 0.003*(6.380);
             }
-            if (PositionRef2 < 0) {
+            if (PositionRef2 < -0.733*(6.380)) {
                 PositionRef2 += 0.001*(6.380);
             }
-            if ((PositionRef > 0) && (PositionRef2 > 0) && (TimerLoop > 4)) {
+            if ((PositionRef > 0) && (PositionRef2 > -0.733*(6.380)) && (TimerLoop > 4)) {
                 CurrentOperationState = OPWait;
             }
             break;