Diff: NR_method_1.cpp

Revision:

15:771f3c73fe24

Parent:

14:b1ad257e5647

Child:

16:5270b5921d03

diff -r b1ad257e5647 -r 771f3c73fe24 NR_method_1.cpp
--- a/NR_method_1.cpp	Thu Nov 01 20:50:14 2018 +0000
+++ b/NR_method_1.cpp	Thu Nov 01 21:40:06 2018 +0000
@@ -133,30 +133,94 @@
     emgFiltered23 = bqc4.step(emgFiltered22);
 
 }
+void printboardpos()
+{
+    float x = (abs(x1+17)/4.2);
+    float y = (abs(y1 -3)/4.2);
 
+    switch ((int)y) {
+        case 0:
+            lett = 'A';
+            break;
+        case 1:
+            lett = 'B';
+            break;
+        case 2:
+            lett = 'C';
+            break;
+        case 3:
+            lett = 'D';
+            break;
+        case 4:
+            lett = 'E';
+            break;
+        case 5:
+            lett = 'F';
+            break;
+        case 6:
+            lett = 'G';
+            break;
+        case 7:
+            lett = 'H';
+            break;
+        default:
+            break;
+    }
+    switch ((int)x) {
+        case 0:
+            num =8;
+            break;
+        case 1:
+            num =7;
+            break;
+        case 2:
+            num =6;
+            break;
+        case 3:
+            num =5;
+            break;
+        case 4:
+            num =4;
+            break;
+        case 5:
+            num =3;
+            break;
+        case 6:
+            num =2;
+            break;
+        case 7:
+            num =1;
+            break;
+        default:
+            break;
+    }
+    pc.printf("%c %i\r\n",lett,num);
+
+}
 void Position1x(double b)
 {
     if (b > 0.20) {
         Led2 = 0;
         i = 0;
         Cxx =x1;
-        //pc.printf("Moving in the x direction\n\r");
+
         if (dir == true) {
             if(x1 > -46.3) {
                 x1 = x1-4.2;
-
+                printboardpos();
 
             } else if ( x1 <= -46.3) {
                 x1 =-17;
-
+                printboardpos();
             } else {
             }
         } else {
             if(x1 < -17) {
                 x1 = x1+4.2;
-
+                printboardpos();
             } else if ( x1 >= -17) {
                 x1 = -46.3;
+                printboardpos();
             } else {
             }
         }
@@ -171,22 +235,26 @@
         Led2 = 0;
         i = 0;
         Cyy=y1;
-        pc.printf("Moving in the y direction\r\n");
+        //pc.printf("Moving in the y direction\r\n");
         if(dir == true) {
             if(y1 < 32.4) {
                 y1 = y1+4.2;
                 //return y1;
+                printboardpos();
             } else if ( y1 >= 32.4) {
                 y1 = 3;
+                printboardpos();
                 //return y1;
             } else {
             }
         } else {
             if(y1 > 3) {
                 y1 = y1-4.2;
+                printboardpos();
                 //return y1;
             } else if ( y1 <= 3) {
                 y1 = 32.4;
+                printboardpos();
                 //return y1;
             } else {
             }
@@ -337,6 +405,7 @@
         }
 }
 
+
 void setCalibration()
 {
     if (startCalc == false) {
@@ -439,66 +508,7 @@
                 i++;
             }
 
-            float x = (abs(x1+17)/4.2);
-            float y = (abs(y1 -3)/4.2);
 
-            switch ((int)y) {
-                case 0:
-                    lett = 'A';
-                    break;
-                case 1:
-                    lett = 'B';
-                    break;
-                case 2:
-                    lett = 'C';
-                    break;
-                case 3:
-                    lett = 'D';
-                    break;
-                case 4:
-                    lett = 'E';
-                    break;
-                case 5:
-                    lett = 'F';
-                    break;
-                case 6:
-                    lett = 'G';
-                    break;
-                case 7:
-                    lett = 'H';
-                    break;
-                default:
-                    break;
-            }
-            switch ((int)x) {
-                case 0:
-                    num =1;
-                    break;
-                case 1:
-                    num =2;
-                    break;
-                case 2:
-                    num =3;
-                    break;
-                case 3:
-                    num =4;
-                    break;
-                case 4:
-                    num =5;
-                    break;
-                case 5:
-                    num =6;
-                    break;
-                case 6:
-                    num =7;
-                    break;
-                case 7:
-                    num =8;
-                    break;
-                default:
-                    break;
-            }
-            pc.printf("%c %i\r\n",lett,num);
             sw2.fall(change);
             Position1x(emgFiltered3);
             Position1y(emgFiltered23);