Diff: main.cpp

Revision:

3:0edffb90e739

Parent:

2:3987ed9570c8

Child:

4:863a52425322

--- a/main.cpp	Mon Nov 04 14:54:13 2013 +0000
+++ b/main.cpp	Mon Nov 04 16:08:46 2013 +0000
@@ -54,7 +54,7 @@
     Ticker looptimer;
     looptimer.attach(setlooptimerflag,Ts);
     
-    motor1.setPosition(200);
+    motor1.setPosition(200.0);
     motor2.setPosition(0);
     x=0;
     y=0;
@@ -67,18 +67,28 @@
         looptimerflag = false;
 
 
-        x = (potmeter1.read()*297.0)*-1.0;
+        x = (potmeter1.read()*297.0);
         y = (potmeter2.read()*210.0);
 
         //x = x*10.0 + 69.8;
         //y = y*10.0 + 69.8;
 
-        theta   = atan(y/x)       ;// *   (400.0/(.5*pi));
-        r       = (sqrt(x*x+y*y)) ;// *   (2577/461.335);
+        if(x < 30){
+        theta = 0.25*pi;
+        }
+        if(y < 21){
+        theta = 0.25*pi;
+        }
         
+        if(x >= 30 && y >= 21){
+                theta   = atan(y/x)+(.25*pi);// *   (400.0/(.5*pi));
+        }
+        
+        r       = (sqrt(x*x+y*y)) ;// *   (2577/461.335);
+                
 
-        theta_pen   = motor1.getPosition()  *   ((.5*pi)/400);
-        r_pen       = motor2.getPosition()  *   (363.0/2577.0);
+        theta_pen   = motor1.getPosition()  *   ((.5*pi)/400.0);
+        r_pen       = motor2.getPosition()  *   (363.0/2196.0);
         
         
         dtheta  = (theta - theta_pen);