Peihsun Yeh / Mbed 2 deprecated ECE4180FinalV4

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Dependencies:   Servo mbed

notes.h@0:cdd566529530, 2013-05-01 (annotated)

Committer:
pyeh9
Date:
Wed May 01 16:00:53 2013 +0000
Revision:
0:cdd566529530
CarlsenBot Working commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pyeh9 0:cdd566529530 1 /*
pyeh9 0:cdd566529530 2 while(motor_x1.ticks < pos){
pyeh9 0:cdd566529530 3 spd = (((float)pos-(float)motor_x1.ticks))/pos;
pyeh9 0:cdd566529530 4 spd*=0.6;
pyeh9 0:cdd566529530 5 if(spd < 0.2) spd = 0.2
pyeh9 0:cdd566529530 6 ;
pyeh9 0:cdd566529530 7 motor_x1.speed(spd);
pyeh9 0:cdd566529530 8 motor_x2.speed(spd);
pyeh9 0:cdd566529530 9 pc.printf("Ticks: %d, speed: %f\n", motor_x1.ticks, spd);
pyeh9 0:cdd566529530 10 wait(0.001);
pyeh9 0:cdd566529530 11 motor_x1.speed(0);
pyeh9 0:cdd566529530 12 }
pyeh9 0:cdd566529530 13 */
pyeh9 0:cdd566529530 14 /*
pyeh9 0:cdd566529530 15 wait(0.5);
pyeh9 0:cdd566529530 16 while(motor_x1.ticks != pos){
pyeh9 0:cdd566529530 17 if(motor_x1.ticks > pos) spd = -0.2;
pyeh9 0:cdd566529530 18 else spd = 0.2;
pyeh9 0:cdd566529530 19 motor_x1.speed(spd);
pyeh9 0:cdd566529530 20 motor_x2.speed(spd);
pyeh9 0:cdd566529530 21 pc.printf("Ticks: %d, speed: %f\n", motor_x1.ticks, spd);
pyeh9 0:cdd566529530 22 wait(0.01);
pyeh9 0:cdd566529530 23 motor_x1.speed(0);
pyeh9 0:cdd566529530 24 motor_x2.speed(0);
pyeh9 0:cdd566529530 25 }
pyeh9 0:cdd566529530 26 */
pyeh9 0:cdd566529530 27
pyeh9 0:cdd566529530 28 //something here
pyeh9 0:cdd566529530 29
pyeh9 0:cdd566529530 30 /*
pyeh9 0:cdd566529530 31 //set coordinates given for testing (numOfSquares for testing only)
pyeh9 0:cdd566529530 32 numOfSquaresX = 1;
pyeh9 0:cdd566529530 33 numOfSquaresY = 1;
pyeh9 0:cdd566529530 34
pyeh9 0:cdd566529530 35 //when actually recieveing data, change numOfSquares to srcX
pyeh9 0:cdd566529530 36 sourceX = numOfSquaresX * 210 - clawLocationX;
pyeh9 0:cdd566529530 37 sourceY = numOfSquaresY * 181 - clawLocationY;
pyeh9 0:cdd566529530 38
pyeh9 0:cdd566529530 39 moveX(sourceX);
pyeh9 0:cdd566529530 40 moveY(sourceY);
pyeh9 0:cdd566529530 41 wait(1);
pyeh9 0:cdd566529530 42 claw = OPEN;
pyeh9 0:cdd566529530 43 wait(1);
pyeh9 0:cdd566529530 44 moveZ(0.49);
pyeh9 0:cdd566529530 45 claw = CLOSE;
pyeh9 0:cdd566529530 46 wait(1);
pyeh9 0:cdd566529530 47 moveZ(0.36);
pyeh9 0:cdd566529530 48
pyeh9 0:cdd566529530 49 //need to set clawLocation here
pyeh9 0:cdd566529530 50
pyeh9 0:cdd566529530 51 //set coordinates given for testing (numOfSquares for testing only)
pyeh9 0:cdd566529530 52 numOfSquaresX = 2;
pyeh9 0:cdd566529530 53 numOfSquaresY = 1;
pyeh9 0:cdd566529530 54
pyeh9 0:cdd566529530 55 //when actually recieveing data, change numOfSquares to destX
pyeh9 0:cdd566529530 56 destinationX = numOfSquaresX * 210 - clawLocationX;
pyeh9 0:cdd566529530 57 destinationY = numOfSquaresY * 181 - clawLocationY;
pyeh9 0:cdd566529530 58
pyeh9 0:cdd566529530 59 moveX(destinationX);
pyeh9 0:cdd566529530 60 moveY(destinationY);
pyeh9 0:cdd566529530 61 wait(1);
pyeh9 0:cdd566529530 62 moveZ(0.49);
pyeh9 0:cdd566529530 63 wait(1);
pyeh9 0:cdd566529530 64 claw = OPEN;
pyeh9 0:cdd566529530 65 wait(1);
pyeh9 0:cdd566529530 66 moveZ(0.36);
pyeh9 0:cdd566529530 67 */
pyeh9 0:cdd566529530 68 //need to set clawLocation here again
pyeh9 0:cdd566529530 69
pyeh9 0:cdd566529530 70 /*
pyeh9 0:cdd566529530 71 // test program (opens claw, picks up piece below, and moves to new destination)
pyeh9 0:cdd566529530 72 claw = OPEN;
pyeh9 0:cdd566529530 73 wait(1);
pyeh9 0:cdd566529530 74 moveZ(0.49);
pyeh9 0:cdd566529530 75 claw = CLOSE;
pyeh9 0:cdd566529530 76 wait(1);
pyeh9 0:cdd566529530 77 moveZ(0.36);
pyeh9 0:cdd566529530 78 moveX(210); //210 per one square of X
pyeh9 0:cdd566529530 79 moveY(181); //181 per one square of Y
pyeh9 0:cdd566529530 80 wait(1);
pyeh9 0:cdd566529530 81 moveZ(0.49);
pyeh9 0:cdd566529530 82 wait(1);
pyeh9 0:cdd566529530 83 claw = OPEN;
pyeh9 0:cdd566529530 84 wait(1);
pyeh9 0:cdd566529530 85 moveZ(0.36);
pyeh9 0:cdd566529530 86 */