Diff: main.cpp

Revision:

63:e336c16c8957

Parent:

62:509622cce1c6

Child:

64:5a66361c8318

diff -r 509622cce1c6 -r e336c16c8957 main.cpp
--- a/main.cpp	Wed Jun 17 14:54:59 2015 +0000
+++ b/main.cpp	Wed Jun 17 15:05:25 2015 +0000
@@ -26,7 +26,7 @@
 #define EMG_tresh3   0.01
 #define EMG_tresh4   0.01
 #define H_Gain  2
-#define Pt_x    0.83
+#define Pt_x    0.88
 #define Pt_y    0.25
 
 //Motor control
@@ -223,25 +223,26 @@
     Stepx.write(0.5); // Duty cycle of 50%
     Stepy.write(0.5);
     //Stepx.period(1/1500);
+    //wait(0.01);
     //Stepy.period(1/1500); 
     //wait(0.01);
     //}
-    //Enablex = 1;
-    //Enabley = 1;
-   
+    Enablex = 1;
+    Enabley = 1;
+    wait(1); 
     lcd.printf("Start homing");
     wait(2);
     lcd.cls();
     wait(1);
     Enablex = 0;
     Enabley = 0;
-    while(errorx > 0.05 && errory > 0.05) {
+    while(errorx > 0.03 || errory > 0.03) {
         lcd.printf("%.2f %.2f  \n", Ps_x, Ps_y);
 
         Ps_x = Posx.read();
         Ps_y = Posy.read();
 
-        if (Ps_x < 0.83) {
+        if (Ps_x < 0.88) {
             Dirx = 0;
             errorx = Pt_x - Ps_x;
             cx = errorx * H_Gain;
@@ -270,7 +271,7 @@
     lcd.printf("Done");
     Enablex = 1;
     Enabley = 1;
-    wai(3); 
+    wait(3); 
    /*Ticker emgtimer;    //biceps
      arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
      arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);