Diff: main.cpp

Revision:

3:010fde11bfad

Parent:

2:f5c2fa19497b

Child:

4:ece7bfb06944

--- a/main.cpp	Wed Nov 28 18:48:00 2018 +0000
+++ b/main.cpp	Wed Nov 28 20:42:49 2018 +0000
@@ -35,6 +35,7 @@
 DigitalOut   r_dir( p21 );
 DigitalOut    r_I(p23);
 DigitalOut r_slp(p30); //sleep
+DigitalOut slp(p29);
 DigitalOut led(LED1);
 float r_ang;
 float r_pos;
@@ -47,10 +48,11 @@
 int main(void)
 {
     
-    r_I=0;
-    rudder.period(.001);
-    rudder.pulsewidth(0);
-    r_slp = 0;
+    r_I=0; //sets for 1.5amp output
+    rudder.period(.001); //sets the pulse width modulation period
+    rudder.pulsewidth(0); 
+    slp = 0;
+    r_slp = 0; //sstarts the current driver in off state
     wait(10);
     led = 1; //indicate that the wait period is over
     
@@ -61,40 +63,60 @@
 
         if (rx.valid) {
             RC_1 = rx.channel[1];
-            pc.printf(" rc: %f\n",rx.channel[0]);
+            //pc.printf(" rc: %f\n",rx.channel[0]);
         } else {
-            pc.printf(" invalid\r\n");
+            //pc.printf(" invalid\r\n");
             r_slp = 0;
         }
         //39.19
-        r_ang = (RC_1/6.77)+30.0;
+        r_ang = (RC_1/6.77)-5.0;
 
         r_pos = (r_ain-.108)/.002466;
+        pc.printf(" %.3f\r\n",r_pos);
         //pc.printf(" %.3f\n",);
         if((r_pos > (r_ang-3.0)) && (r_pos < (r_ang+3.0))) {
             rudder.pulsewidth(0);
             r_slp = 0;
         }
-        if( (r_pos > (r_ang+3.0)) && r_pos < 270.0) {
+        if( (r_pos > (r_ang+3.0)) && r_pos < 235.0) {
             r_slp = 1;
             while(r_pos > r_ang) {
                 r_dir = 1; //left??
                 rudder.pulsewidth(.0005);
-                pc.printf("pos: %.3f\n",r_pos);
+                //pc.printf("pos: %.3f\n",r_pos);
                 r_pos = posr();
             }//while pos
             rudder.pulsewidth(0);
         }//if pos
-        if((r_pos < (r_ang-3.0)) && r_pos > 90.0) {
+        if((r_pos < (r_ang-3.0)) && r_pos > 55.0) {
             r_slp = 1;
             while(r_pos < r_ang) {
                 r_dir = 0; //right??
                 rudder.pulsewidth(.0005);
-                pc.printf("pos: %.3f\n",r_pos);
+                //pc.printf("pos: %.3f\n",r_pos);
                 r_pos = posr();
             }//while pos
             rudder.pulsewidth(0);
         }
+        if(r_pos > 210.0){
+             r_slp = 1;
+            while(r_pos > 210.0) {
+                r_dir = 1; //right??
+                rudder.pulsewidth(.0005);
+                //pc.printf("pos: %.3f\n",r_pos);
+                r_pos = posr();
+            }//while
+        }//if
+        if(r_pos <80.0){
+             r_slp = 1;
+            while(r_pos < 80.0) {
+                r_dir = 0; //right??
+                rudder.pulsewidth(.0005);
+                //pc.printf("pos: %.3f\n",r_pos);
+                r_pos = posr();
+            }//while
+        }//if
+        
         //***END OF JUST ADDED
         ThisThread::sleep_until(121);
     }//while(1)