Revision 15:ece330b45d93, committed 2015-11-02

Comitter:

arunr

Date:

Mon Nov 02 14:03:45 2015 +0000

Parent:

14:25edcf2935f6

Child:

16:bf76ed65da88

Commit message:

home pos arm 1 werkt;

Changed in this revision

--- a/main.cpp	Thu Oct 29 22:56:57 2015 +0000
+++ b/main.cpp	Mon Nov 02 14:03:45 2015 +0000
@@ -43,7 +43,7 @@
 // Berekening van de output shaft resolution. Het aantal counts per 1 graden verandering (PI-controller)
 const double g = 360; // Aantal graden 1 rotatie
 const double c = 4200; // Aantal counts 1 rotatie
-const double q = c/(g);
+const double q = g/c;
 
 //PI-controller constante
 const double motor1_Kp = 2.0; // Dit is de proportionele gain motor 1
@@ -239,7 +239,7 @@
 
 void move_motor1()
 {
-    if (safety_stop == true && (final_filter1 > 0.05 && final_filter2 < 0.02 && final_filter3 < 0.04 && final_filter4 < 0.04)) {
+    if (button_1 == pressed || (final_filter1 > 0.05 && final_filter2 < 0.02 && final_filter3 < 0.04 && final_filter4 < 0.04)) {
         pc.printf("motor1 cw \n\r");
         motor1_direction = 1; //clockwise
         motor1_speed = 0.1;
@@ -259,7 +259,7 @@
         pc.printf("motor2 cw \n\r");
         motor2_direction = 1; //clockwise
         motor2_speed = 0.4;
-    } else if (safety_stop == true && (final_filter4 > 0.03 && final_filter1 < 0.02 && final_filter2 < 0.02 && final_filter3 < 0.02)) {
+    } else if (button_2 == pressed || (final_filter4 > 0.03 && final_filter1 < 0.02 && final_filter2 < 0.02 && final_filter3 < 0.02)) {
         pc.printf("motor2 ccw \n\r");
         motor2_direction = 0; //counterclockwise
         motor2_speed = 0.4;