Arun Raveenthiran
/
VerslagCode
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Dependencies: Encoder HIDScope MODSERIAL mbed
Fork of
TotalCodegr13V2
by 
Rianne Bulthuis
Revision 17:416876824d8c, committed 2015-11-02
- Comitter:
- arunr
- Date:
- Mon Nov 02 14:24:46 2015 +0000
- Parent:
- 16:bf76ed65da88
- Child:
- 18:60251896da8d
- Commit message:
- Move to home opgesplitst in 2 functies voor m1 en m2. Werkt nu voor beide motoren.
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Nov 02 14:06:12 2015 +0000
+++ b/main.cpp Mon Nov 02 14:24:46 2015 +0000
@@ -227,12 +227,11 @@
}
-void movetohome()
+void movetohome1()
{
P1 = motor1.getPosition();
- P2 = motor2.getPosition();
- if ((P1 >= -28 && P1 <= 28) || (P2 >= -28 && P2 <= 28)) {
+ if ((P1 > -25 && P1 < 25)) {
motor1_speed = 0;
} else if (P1 > 24) {
motor1_direction = 1;
@@ -240,11 +239,19 @@
} else if (P1 < -24) {
motor1_direction = 0;
motor1_speed = 0.1;
- } else if (P2 > 24) {
- motor2_direction = 1;
+ }
+}
+
+void movetohome2()
+{
+ P2 = motor2.getPosition();
+ if (P2 > -25 && P2 < 25){
+ motor2_speed = 0;
+ }else if (P2 > 24) {
+ motor2_direction = 0;
motor2_speed = 0.1;
} else if (P2 < -24) {
- motor2_direction = 0;
+ motor2_direction = 1;
motor2_speed = 0.1;
}
}
@@ -303,7 +310,8 @@
ticker_regelaar.attach(setregelaar_ticker_flag, SAMPLETIME_REGELAAR);
while(state == BACKTOHOMEPOSITION) {
- movetohome();
+ movetohome1();
+ movetohome2();
while(regelaar_ticker_flag != true);
regelaar_ticker_flag = false;