Diff: main.cpp

Revision:

11:97f824629da5

Parent:

10:31e4c3d71ee6

Child:

12:b31df384b170

--- a/main.cpp	Wed Nov 02 15:54:32 2016 +0000
+++ b/main.cpp	Wed Nov 02 16:13:32 2016 +0000
@@ -307,16 +307,13 @@
                 num_turned_on_0++;
             
                 if (rlf_y > threshold_value) {
-                    if(position_cart <= -105){                                  //If the cart is at the right side, it stops
+                    if(position_cart <= -10){                                  //If the cart is at the right side, it stops
                     Cart.stop(1)==1;
                     
-                    }else if(position_cart <= -90){                             //If the cart is at 90 mm at the right, it slows down
-                    Cart.speed(0.2)==0.2;
-                    
-                    }else if(position_cart >= 105 && position_arm <=-45){       //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
+                    }else if(position_cart >= 10 && position_arm <=-45){       //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
                     Cart.stop(1) == 1;
                     
-                    }else if(position_cart >= 105 && position_arm <=-35 && position_claw == -18){
+                    }else if(position_cart >= 10 && position_arm <=-35 && position_claw == -18){
                     Cart.stop(1) == 1;    
     
                     }else{
@@ -324,16 +321,10 @@
                     }
          
                 }else if (llf_y > threshold_value) {
-                    if(position_cart >= 105){                                   //If the cart is at the left side, it stops
+                    if(position_cart >= 10){                                   //If the cart is at the left side, it stops
                     Cart.stop(1)==1;
                     
-                    }else if(position_cart >= 90){                             //If the cart is at the right side, it stops
-                    Cart.speed(-0.2)==-0.2;
-                    
-                    }else if(position_cart <= -105 && position_arm >=45){       //If the cart is at the right side and the arm is rotated 60 degrees to the right, the cart can't move to the left.
-                    Cart.stop(1)==1;
-                      
-                    }else if(position_cart <= -105 && position_arm >=35 && position_claw == 27){
+                    }else if(position_cart <= -10 && position_arm >=35 && position_claw == 27){
                     Cart.stop(1)==1;
                     
                     }else{
@@ -341,14 +332,7 @@
                     }
                                             
                 }else {
-                    Arm.speed(0) == 0;
-                    if(position_cart<0){
-                    Cart.speed(-0.1)== -0.1;
-                    }else if(position_cart>0){
-                    Cart.speed(0.1)==0.1;
-                    }else{
-                    Cart.stop(0)==0;
-                    }
+
                      
                 }
             }
@@ -465,7 +449,7 @@
     tick_part.attach(&SwitchCart,kTimeToggle);
     tick_part_arm.attach(&SwitchArm,kTimeToggle);  
     sampleTicker.attach(scopeSend,0.01);
-    measureTicker.attach(Measure, 0.01);
+    measureTicker.attach(Measure, 0.005);
    
     btn_cart.fall(&SetValue2);
     btn_arm.fall(&SetValue3);