Diff: main.cpp

Revision:

1:9330bbc04857

Parent:

0:1907291f2887

--- a/main.cpp	Mon Oct 01 14:27:53 2018 +0000
+++ b/main.cpp	Tue Oct 16 19:42:27 2018 +0000
@@ -5,6 +5,7 @@
 PwmOut pwmpin(D6);
 PwmOut led(D10);
 DigitalIn button(D2);
+DigitalIn button_position_calibration (D3);      //button for calibration (check which pin is free)
 DigitalOut directionpin(D7);
 Encoder motor1(D13,D12);
 MODSERIAL pc(USBTX, USBRX);
@@ -17,19 +18,16 @@
     pc.printf("** reset **\r\n");
     directionpin = 1; //turn forward
     led = 1; //turn led on
-
-/* this could be placed in the while loop
-    //"lompe" functions to let the counter count from 0-8400 and from -8400 to 0, could possibly be done better
-    if (counts > max_counts) {counts = 0;}
-    else if (counts < 0) {counts = max_counts;}
-    else if (counts < -1*max_counts) {counts = 0;}
     
-    //converting the counts to degrees
-    degrees_per_count = 360/max_counts;   
-    motor_angle = counts*degrees_per_counts;
-*/
-    
-    while (true) {
+//______Position calibration______//
+// first set the arm in the position you would like te be the neutral position, then press the button_position_calibration
+    while (button_position_calibration == false) {
+        counts = 0; 
+        pc.printf("position is set to 0");
+        wait(0.1f);
+        
+//______Encoder for position______//
+    while (button_position_calibration == true) {
         //if the button is pressed, turn of the led and turn the motor
         if (button == false){
             pwmpin = 0.6;
@@ -43,5 +41,18 @@
         counts = motor1.getPosition(); //get the number of counts from the encoder. Will keep counting up/down if not reset or stopped
         pc.printf("%i\r\n", counts); 
         wait(0.1f);     
-    }
+    }  
+
+/* this could be placed in the while loop
+    //"lompe" functions to let the counter count from 0-8400 and from -8400 to 0, could possibly be done better
+    if (counts > max_counts) {counts = 0;}
+    else if (counts < 0) {counts = max_counts;}
+    else if (counts < -1*max_counts) {counts = 0;}
+    
+    //converting the counts to degrees
+    degrees_per_count = 360/max_counts;   
+    motor_angle = counts*degrees_per_counts;
+*/
+}    
+
 }
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