Lehrer Busch / Mbed OS xxx_Motorino_Lib

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Dependencies:   eeprom_intern LCD_i2c_GSOE MotorinoLib

Files at this revision

API Documentation at this revision

Revision 3:302df40c00e2, committed 2021-10-27

Comitter:
jack1930
Date:
Wed Oct 27 16:35:00 2021 +0000
Parent:
2:e9fbdcb1ee8f
Child:
4:f863f6847c7d
Commit message:
Steuerung von Grabit Roboterarm

Changed in this revision

MotorinoLib.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/MotorinoLib.lib	Tue Sep 28 16:03:50 2021 +0000
+++ b/MotorinoLib.lib	Wed Oct 27 16:35:00 2021 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/jack1930/code/MotorinoLib/#d53e45e1acae
+https://os.mbed.com/users/jack1930/code/MotorinoLib/#be7221f0390c

--- a/main.cpp	Tue Sep 28 16:03:50 2021 +0000
+++ b/main.cpp	Wed Oct 27 16:35:00 2021 +0000
@@ -34,32 +34,39 @@
     int dtc=0;
     // Initialise the digital pin LED1 as an output
     DigitalOut led(LED1);
-    schritt[0].w[0]=0;
-    schritt[0].w[1]=0;
-    schritt[0].w[2]=0;
-    schritt[0].w[3]=0;
+    schritt[0].w[0]=90;
+    schritt[0].w[1]=90;
+    schritt[0].w[2]=90;
+    schritt[0].w[3]=90;
     schritt[0].w[4]=0;
-    schritt[0].w[5]=0;
+    schritt[0].w[5]=30;
     schritt[0].ms=1000;
     
-    schritt[1].w[0]=180;
-    schritt[1].w[1]=90;
-    schritt[1].w[2]=180;
-    schritt[1].w[3]=90;
+    schritt[1].w[0]=30;
+    schritt[1].w[1]=100;
+    schritt[1].w[2]=120;
+    schritt[1].w[3]=110;
     schritt[1].w[4]=180;
-    schritt[1].w[5]=90;
+    schritt[1].w[5]=100;
     schritt[1].ms=500;
 
     schritt[2].w[0]=90;
-    schritt[2].w[1]=180;
-    schritt[2].w[2]=90;
-    schritt[2].w[3]=180;
+    schritt[2].w[1]=80;
+    schritt[2].w[2]=70;
+    schritt[2].w[3]=80;
     schritt[2].w[4]=90;
     schritt[2].w[5]=180;
     schritt[2].ms=500;
+    achse[0]->grundstellung(90);
+    achse[1]->grundstellung(90);
+    achse[2]->grundstellung(90);
+    achse[3]->grundstellung(90);
+    achse[4]->grundstellung(90);
+    achse[5]->grundstellung(90);
     while (true) {
         led = !led;
-        for (int j=0;j<3;j++) //Schritte
+        
+        for (int j=0;j<2;j++) //Schritte
         {
             for (int i=0;i<6;i++)   //alle Achsen mit neuen Zielen versorgen und starten
             {
@@ -70,6 +77,7 @@
                 while(achse[i]->isBusy());
             }            
         }
+        HAL_Delay(1000);
         /*
         Greifer.go(180,1000);
         Basis.go(90,1000);