notes.h

00001  /*
00002     while(motor_x1.ticks < pos){
00003         spd = (((float)pos-(float)motor_x1.ticks))/pos;
00004         spd*=0.6;
00005         if(spd < 0.2) spd = 0.2
00006         ;
00007         motor_x1.speed(spd);
00008         motor_x2.speed(spd);
00009         pc.printf("Ticks: %d, speed: %f\n", motor_x1.ticks, spd);
00010         wait(0.001);
00011         motor_x1.speed(0);
00012     }
00013     */
00014     /*
00015     wait(0.5);
00016     while(motor_x1.ticks != pos){
00017         if(motor_x1.ticks > pos) spd = -0.2;
00018         else spd = 0.2;
00019         motor_x1.speed(spd);
00020         motor_x2.speed(spd);
00021         pc.printf("Ticks: %d, speed: %f\n", motor_x1.ticks, spd);
00022         wait(0.01);
00023         motor_x1.speed(0);
00024         motor_x2.speed(0);
00025     }
00026     */
00027     
00028 //something here
00029     
00030     /*
00031     //set coordinates given for testing (numOfSquares for testing only)
00032     numOfSquaresX = 1;
00033     numOfSquaresY = 1;
00034     
00035     //when actually recieveing data, change numOfSquares to srcX
00036     sourceX = numOfSquaresX * 210 - clawLocationX;
00037     sourceY = numOfSquaresY * 181 - clawLocationY;
00038     
00039     moveX(sourceX);
00040     moveY(sourceY);
00041     wait(1);
00042     claw = OPEN;
00043     wait(1);
00044     moveZ(0.49);
00045     claw = CLOSE;
00046     wait(1);
00047     moveZ(0.36);
00048     
00049     //need to set clawLocation here
00050     
00051     //set coordinates given for testing (numOfSquares for testing only)
00052     numOfSquaresX = 2;
00053     numOfSquaresY = 1;
00054     
00055     //when actually recieveing data, change numOfSquares to destX
00056     destinationX = numOfSquaresX * 210 - clawLocationX;
00057     destinationY = numOfSquaresY * 181 - clawLocationY;
00058     
00059     moveX(destinationX);
00060     moveY(destinationY);
00061     wait(1);
00062     moveZ(0.49);
00063     wait(1);
00064     claw = OPEN;
00065     wait(1);
00066     moveZ(0.36);
00067     */
00068     //need to set clawLocation here again
00069     
00070     /*
00071     // test program (opens claw, picks up piece below, and moves to new destination)
00072     claw = OPEN;
00073     wait(1);
00074     moveZ(0.49);
00075     claw = CLOSE;
00076     wait(1);
00077     moveZ(0.36);
00078     moveX(210); //210 per one square of X
00079     moveY(181); //181 per one square of Y
00080     wait(1);
00081     moveZ(0.49);
00082     wait(1);
00083     claw = OPEN;
00084     wait(1);
00085     moveZ(0.36);
00086     */