Revision 2:531e6b0346e6, committed 2013-12-12

Comitter:

ohtake_i

Date:

Thu Dec 12 15:01:32 2013 +0000

Parent:

1:2fddb5d4ad27

Commit message:

for ayami;

Changed in this revision

--- a/main.cpp	Thu Dec 12 07:26:55 2013 +0000
+++ b/main.cpp	Thu Dec 12 15:01:32 2013 +0000
@@ -43,19 +43,19 @@
 //for control_angle
     void Control_Motor();
     void Sample_Move();
-    void Control_DCMotor(double desired_value, double offset, double speed_control);
+    //void Control_DCMotor(double desired_value, double offset, double speed_control);
+    void Control_DCMotor(int desired_value, int offset, double speed_control);
 
 int main() {
     while(1) {
-        //Control_DCMotor(180.0,5.0,0.05);
-        Sample_Move();
+        printf("Start\r\n");
+        Control_DCMotor(180.0,5.0,0.05);
+        //Sample_Move();
         //VALVE_OPEN;
         //VALVE_CLOSE;
         //servo.TORQUE_ON(1);
-        //servo.Rotate_Servo_Float(1,0.0);
-        
+        //servo.Rotate_Servo_Float(1,0.0);   
     }
-
 }
 
 //Servo performance test
@@ -82,17 +82,25 @@
 }
 
 //Control z-axis angle of rotation
-void Control_DCMotor(double desired_value, double offset, double speed_control) {
-    double tmp = abs(arm_enc.getPulses());  //get rev value
+//void Control_DCMotor(double desired_value, double offset, double speed_control) {
+void Control_DCMotor(int desired_value, int offset, double speed_control) {
+    //double tmp = abs(arm_enc.getPulses());  //get rev value
+    printf("Control_DCMotor_Start\r\n");
     while(1) {
-        if(desired_value - offset <= tmp && tmp <= desired_value + offset) {
+        //if(desired_value - offset <= tmp && tmp <= desired_value + offset) {
+        if(desired_value - offset <= abs(arm_enc.getPulses()) && abs(arm_enc.getPulses()) <= desired_value + offset) {
             arm = 0.5;
             break;
+            printf("1 Rotation_of_Angle : %d\r\n", abs(arm_enc.getPulses()));
         } 
-        else if(tmp < desired_value - offset) {
+        //else if(tmp < desired_value - offset) {
+        else if(abs(arm_enc.getPulses())
+         < desired_value - offset) {
             arm = 0.5 + speed_control;
+            printf("2 Rotation_of_Angle : %d\r\n", abs(arm_enc.getPulses()));
         } else {
             arm = 0.5 - speed_control;
+            printf("3 Rotation_of_Angle : %d\r\n", abs(arm_enc.getPulses()));
         }
     }
 }