Diff: main.cpp

Revision:

65:4709ff6c753c

Parent:

59:63609922579c

Child:

67:be3ea5450cc7

--- a/main.cpp	Sat Apr 13 22:42:01 2013 +0000
+++ b/main.cpp	Sun Apr 14 17:57:12 2013 +0000
@@ -39,8 +39,8 @@
     //motorencodetest();
     //motorencodetestline();
     //motorsandservostest();
-    armtest();
-    while(1);
+    //armtest();
+    //while(1);
     //motortestline();
     //ledtest();
     //phototransistortest();
@@ -245,22 +245,74 @@
     }
 }
 */
+#ifdef AGDHGADSYIGYJDGA
+PwmOut white(p26);
+PwmOut black(p25);
 
-
+void armtest() 
+{    
+    
+    white.period(0.05);
+    black.period(0.05);
+    
+  /*  float f=1;
+    for (f=1; f<3; f+=0.1)
+    { 
+        black.pulsewidth_us(f*1000);
+        wait(1);
+        printf("%f\r\n", f);
+    }
+    for (f=2; f>0; f-=0.1)
+    { 
+        black.pulsewidth_us(f*1000);
+        wait(1);
+        printf("%f\r\n", f);
+    }*/
+    
+    
+    for(;;)
+    {
+        black.pulsewidth_us(2.0*1000);
+        wait(2);
+        black.pulsewidth_us(0.9*1000);//1.2
+        wait(2);
+    }
+    
+    // white works
+    /*for(;;)
+    {
+        white.pulsewidth_us(0.6*1000);
+        wait(2);
+        white.pulsewidth_us(2.5*1000);
+        wait(2);
+    }*/
+    
+   /* while(1) //2.5 -> //0.6
+    {
+        white.pulsewidth_us(int(f*1000));
+        printf("%f\r\n", f);
+        f-=0.1;
+        wait(1);
+    }*/
+}
+#endif
+#ifdef FSDHGFSJDF
 void armtest()
 {
-    Arm white(p26), black(p25, false, 0.0005, 180);
-    while(true) {
-        white(0);
-        black(0.2);
-        wait(1);
-        white(1);
-        black(0.8);
-        wait(1);
+    Arm lower_arm(p25, 0.05, 0.9, 2.0);
+    Arm upper_arm(p26, 0.05, 0.6, 2.5);
+    
+    while(1)
+    {
+        upper_arm.go_up();
+        wait(2);
+        upper_arm.go_down();
+        wait(2);
     }
 }
-
-
+#endif
+void armtest(){}
+/*
 void motorsandservostest()
 {
     Encoder Eleft(p27, p28), Eright(p30, p29);
@@ -301,7 +353,7 @@
         if (servoTimer.read() >= 9) servoTimer.reset();
     }
 }
-
+*/
 void motortestline()
 {
     MainMotor mleft(p24,p23), mright(p21,p22);