Diff: main.cpp

Revision:

37:6ac3e70787d1

Parent:

36:2fbc53a2747c

Child:

38:32c7e08bb281

--- a/main.cpp	Fri Nov 03 01:50:10 2017 +0000
+++ b/main.cpp	Fri Nov 03 02:04:58 2017 +0000
@@ -668,14 +668,14 @@
     filter();
     count1 = Encoder1.getPulses();
     angle1 += (0.0981 * count1);
-    if (angle1<setpoint1){
-    motor1direction = 1; // counterclockwise rotation
-    }
-    else {
-    motor1direction = 0; // clockwise rotation
-    }
-    while (angle1<setpoint1 /*|| angle1>setpoint1*/) {
-        if (angle1<setpoint1 /*|| angle1>setpoint1*/) {
+    while (angle1<setpoint1 || angle1>setpoint1) {
+        if (angle1<setpoint1){
+        motor1direction = 1; // counterclockwise rotation
+        }
+        else {
+        motor1direction = 0; // clockwise rotation
+        }
+        if (angle1<setpoint1 || angle1>setpoint1) {
         motor1pwm = 0.5;
         }
         else if (angle1 == setpoint1){
@@ -683,20 +683,21 @@
         }
     }
 }
+
 // check if motor1 needs to be activated
 void SetMotor2() {
     filter();
     //PIDcalculation2();
     count2 = Encoder2.getPulses();
     angle2 += (0.0981 * count2);
-    if (angle2<setpoint2){
-    motor2direction = 1; // counterclockwise rotation
-    }
-    else {
-    motor2direction = 0; // clockwise rotation
-    }
-    while (angle2<setpoint2 /*|| angle2>setpoint2*/) {
-        if (angle2<setpoint2 /*|| angle2>setpoint2*/) {
+    while (angle2<setpoint2 || angle2>setpoint2) {
+        if (angle2<setpoint1){
+        motor1direction = 1; // counterclockwise rotation
+        }
+        else {
+        motor1direction = 0; // clockwise rotation
+        }
+        if (angle2<setpoint2 || angle2>setpoint2) {
         motor2pwm = 0.5;
         }
         else if (angle2 == setpoint2){