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Dependencies: XYZ_sensor_Platform_SPI mbed
Diff: ui.cpp
- Branch:
- envelope
- Revision:
- 13:6850d2b41b2c
- Parent:
- 12:2e1b1b1726fa
- Child:
- 14:9672e91010a3
--- a/ui.cpp Fri Mar 02 06:40:25 2018 +0000 +++ b/ui.cpp Fri Mar 02 08:53:17 2018 +0000 @@ -85,11 +85,24 @@ } if(pattern.state != NONE) { - if(pattern.state == INIT) platform.to(pattern.xStart,pattern.yStart,pattern.zStart); + if(pattern.state == INIT) + { + pattern.x = pattern.xStart; + pattern.y = pattern.yStart; + pattern.z = pattern.zStart; + pattern.count = pattern.num; + pattern.state = MAGNET; + isEcho = true; + platform.to(pattern.x,pattern.y,pattern.z); + } if(pattern.count == 0) pattern.state = TO; if(pattern.state == TO) { - if(abs(pattern.x-pattern.xEnd)>abs(pattern.xStep)) pattern.x += pattern.xStep; + if(abs(pattern.x-pattern.xEnd)>abs(pattern.xStep)) + { + pattern.x += pattern.xStep; + platform.set_speed(1.5); + } else if(abs(pattern.y-pattern.yEnd)>abs(pattern.yStep)){ pattern.x = pattern.xStart; pattern.y += pattern.yStep; @@ -98,21 +111,27 @@ pattern.x = pattern.xStart; pattern.y = pattern.yStart; pattern.z += pattern.zStep; + platform.to(0,0,0); + platform.set_speed(1); + platform.reset(); + platform.set_speed(2.5); } else{ pattern.state = NONE; + echo('S',0,0,0); continue; } platform.to(pattern.x,pattern.y,pattern.z); -// wait(0.); isEcho = true; pattern.count = pattern.num; pattern.state = MAGNET; + platform.set_speed(2.5); } if(pattern.state == MAGNET) { if(pattern.count-- <= 0) pattern.state = TO; getMag++; +// wait(0.01); } } if(isEcho) @@ -247,7 +266,6 @@ else if(dataArray[1] == 'B') { pattern.state = INIT; - pattern.count = pattern.num; } else if(dataArray[1] == 'S') pattern.state = NONE;