![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
8 motor test
Fork of AX12-HelloWorld by
main.cpp@2:9448381519ed, 2017-11-16 (annotated)
- Committer:
- tedparrott6
- Date:
- Thu Nov 16 14:53:46 2017 +0000
- Revision:
- 2:9448381519ed
- Parent:
- 1:b12b06e2fc2d
NA
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chris | 0:f6f8cf11779f | 1 | #include "mbed.h" |
chris | 0:f6f8cf11779f | 2 | #include "AX12.h" |
chris | 0:f6f8cf11779f | 3 | |
chris | 0:f6f8cf11779f | 4 | int main() { |
chris | 0:f6f8cf11779f | 5 | |
tedparrott6 | 2:9448381519ed | 6 | //Initiates all of the motors in the legs |
tedparrott6 | 2:9448381519ed | 7 | AX12 m1 (p9, p10, 1); |
tedparrott6 | 2:9448381519ed | 8 | AX12 m2 (p9, p10, 2); |
tedparrott6 | 2:9448381519ed | 9 | AX12 m3 (p9, p10, 3); |
tedparrott6 | 2:9448381519ed | 10 | AX12 m4 (p9, p10, 4); |
tedparrott6 | 2:9448381519ed | 11 | AX12 m5 (p9, p10, 5); |
tedparrott6 | 2:9448381519ed | 12 | AX12 m6 (p9, p10, 6); |
tedparrott6 | 2:9448381519ed | 13 | AX12 m7 (p9, p10, 7); |
tedparrott6 | 2:9448381519ed | 14 | AX12 m8 (p9, p10, 8); |
tedparrott6 | 2:9448381519ed | 15 | Serial pc(USBTX, USBRX); |
tedparrott6 | 2:9448381519ed | 16 | |
tedparrott6 | 2:9448381519ed | 17 | // Sets motors to initial positions, with waits in between to ensure positions are reached |
tedparrott6 | 2:9448381519ed | 18 | m3.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 19 | pc.printf("\n\rMotor 3 Initiated"); |
tedparrott6 | 2:9448381519ed | 20 | wait(1); |
tedparrott6 | 2:9448381519ed | 21 | m4.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 22 | pc.printf("\n\rMotor 4 Initiated"); |
tedparrott6 | 2:9448381519ed | 23 | wait(1); |
tedparrott6 | 2:9448381519ed | 24 | m1.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 25 | pc.printf("\n\rMotor 1 Initiated"); |
tedparrott6 | 2:9448381519ed | 26 | wait(1); |
tedparrott6 | 2:9448381519ed | 27 | m2.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 28 | pc.printf("\n\rMotor 2 Initiated"); |
tedparrott6 | 2:9448381519ed | 29 | wait(1); |
tedparrott6 | 2:9448381519ed | 30 | m5.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 31 | pc.printf("\n\rMotor 5 Initiated"); |
tedparrott6 | 2:9448381519ed | 32 | wait(1); |
tedparrott6 | 2:9448381519ed | 33 | m6.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 34 | pc.printf("\n\rMotor 6 Initiated"); |
tedparrott6 | 2:9448381519ed | 35 | wait(1); |
tedparrott6 | 2:9448381519ed | 36 | m7.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 37 | pc.printf("\n\rMotor 7 Initiated"); |
tedparrott6 | 2:9448381519ed | 38 | wait(1); |
tedparrott6 | 2:9448381519ed | 39 | m8.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 40 | pc.printf("\n\rMotor 8 Initiated"); |
tedparrott6 | 2:9448381519ed | 41 | wait(1); |
chris | 1:b12b06e2fc2d | 42 | |
chris | 0:f6f8cf11779f | 43 | while (1) { |
tedparrott6 | 2:9448381519ed | 44 | |
tedparrott6 | 2:9448381519ed | 45 | // Begins loop by sending each joint to key locations at appropriate speeds |
tedparrott6 | 2:9448381519ed | 46 | |
tedparrott6 | 2:9448381519ed | 47 | //m4.SetCRSpeed(0.00489); |
tedparrott6 | 2:9448381519ed | 48 | //m3.SetCRSpeed(0.05381); |
tedparrott6 | 2:9448381519ed | 49 | //m2.SetCRSpeed(0.0349); |
tedparrott6 | 2:9448381519ed | 50 | //m1.SetCRSpeed(0.0083); |
tedparrott6 | 2:9448381519ed | 51 | m4.SetGoal(132); |
tedparrott6 | 2:9448381519ed | 52 | m3.SetGoal(136); |
tedparrott6 | 2:9448381519ed | 53 | m2.SetGoal(142.87); |
tedparrott6 | 2:9448381519ed | 54 | m1.SetGoal(151.7); |
tedparrott6 | 2:9448381519ed | 55 | pc.printf("\n\r1"); |
tedparrott6 | 2:9448381519ed | 56 | wait(0.1); |
tedparrott6 | 2:9448381519ed | 57 | |
tedparrott6 | 2:9448381519ed | 58 | //m5.SetCRSpeed(0.0273); |
tedparrott6 | 2:9448381519ed | 59 | //m6.SetCRSpeed(0.086); |
tedparrott6 | 2:9448381519ed | 60 | //m7.SetCRSpeed(0.0671); |
tedparrott6 | 2:9448381519ed | 61 | //m8.SetCRSpeed(0.0189); |
tedparrott6 | 2:9448381519ed | 62 | m5.SetGoal(152); |
tedparrott6 | 2:9448381519ed | 63 | m6.SetGoal(208); |
tedparrott6 | 2:9448381519ed | 64 | m7.SetGoal(179); |
tedparrott6 | 2:9448381519ed | 65 | m8.SetGoal(143); |
tedparrott6 | 2:9448381519ed | 66 | pc.printf("\n\r2"); |
tedparrott6 | 2:9448381519ed | 67 | wait(0.2); |
tedparrott6 | 2:9448381519ed | 68 | |
tedparrott6 | 2:9448381519ed | 69 | //m4.SetCRSpeed(0.01467); |
tedparrott6 | 2:9448381519ed | 70 | //m3.SetCRSpeed(0.02933); |
tedparrott6 | 2:9448381519ed | 71 | //m2.SetCRSpeed(0.0366); |
tedparrott6 | 2:9448381519ed | 72 | //m1.SetCRSpeed(0.0087); |
tedparrott6 | 2:9448381519ed | 73 | m4.SetGoal(136); |
tedparrott6 | 2:9448381519ed | 74 | m3.SetGoal(128); |
tedparrott6 | 2:9448381519ed | 75 | m2.SetGoal(152.85); |
tedparrott6 | 2:9448381519ed | 76 | m1.SetGoal(149.32); |
tedparrott6 | 2:9448381519ed | 77 | pc.printf("\n\r3"); |
tedparrott6 | 2:9448381519ed | 78 | wait(0.4); |
tedparrott6 | 2:9448381519ed | 79 | |
tedparrott6 | 2:9448381519ed | 80 | //m4.SetCRSpeed(0.02569); |
tedparrott6 | 2:9448381519ed | 81 | //m3.SetCRSpeed(0.01834); |
tedparrott6 | 2:9448381519ed | 82 | //m2.SetCRSpeed(0.021); |
tedparrott6 | 2:9448381519ed | 83 | //m1.SetCRSpeed(0.005); |
tedparrott6 | 2:9448381519ed | 84 | m4.SetGoal(143); |
tedparrott6 | 2:9448381519ed | 85 | m3.SetGoal(133); |
tedparrott6 | 2:9448381519ed | 86 | m2.SetGoal(158.57); |
tedparrott6 | 2:9448381519ed | 87 | m1.SetGoal(147.96); |
tedparrott6 | 2:9448381519ed | 88 | pc.printf("\n\r4"); |
tedparrott6 | 2:9448381519ed | 89 | wait(0.1); |
tedparrott6 | 2:9448381519ed | 90 | |
tedparrott6 | 2:9448381519ed | 91 | //m5.SetCRSpeed(0.0489); |
tedparrott6 | 2:9448381519ed | 92 | //m6.SetCRSpeed(0.0342); |
tedparrott6 | 2:9448381519ed | 93 | //m7.SetCRSpeed(0.0587); |
tedparrott6 | 2:9448381519ed | 94 | //m8.SetCRSpeed(0.0147); |
tedparrott6 | 2:9448381519ed | 95 | m5.SetGoal(162); |
tedparrott6 | 2:9448381519ed | 96 | m6.SetGoal(215); |
tedparrott6 | 2:9448381519ed | 97 | m7.SetGoal(167); |
tedparrott6 | 2:9448381519ed | 98 | m8.SetGoal(146); |
tedparrott6 | 2:9448381519ed | 99 | pc.printf("\n\r5"); |
tedparrott6 | 2:9448381519ed | 100 | wait(0.3); |
tedparrott6 | 2:9448381519ed | 101 | |
tedparrott6 | 2:9448381519ed | 102 | //m4.SetCRSpeed(0.0212); |
tedparrott6 | 2:9448381519ed | 103 | //m3.SetCRSpeed(0.01467); |
tedparrott6 | 2:9448381519ed | 104 | //m2.SetCRSpeed(0.007); |
tedparrott6 | 2:9448381519ed | 105 | //m1.SetCRSpeed(0.0017); |
tedparrott6 | 2:9448381519ed | 106 | //m5.SetCRSpeed(0.022); |
tedparrott6 | 2:9448381519ed | 107 | //m6.SetCRSpeed(0.0587); |
tedparrott6 | 2:9448381519ed | 108 | //m7.SetCRSpeed(0.0416); |
tedparrott6 | 2:9448381519ed | 109 | //m8.SetCRSpeed(0.0098); |
tedparrott6 | 2:9448381519ed | 110 | m4.SetGoal(156); |
tedparrott6 | 2:9448381519ed | 111 | m3.SetGoal(142); |
tedparrott6 | 2:9448381519ed | 112 | m2.SetGoal(162.88); |
tedparrott6 | 2:9448381519ed | 113 | m1.SetGoal(146.94); |
tedparrott6 | 2:9448381519ed | 114 | m5.SetGoal(171); |
tedparrott6 | 2:9448381519ed | 115 | m6.SetGoal(191); |
tedparrott6 | 2:9448381519ed | 116 | m7.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 117 | m8.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 118 | pc.printf("\n\r6"); |
tedparrott6 | 2:9448381519ed | 119 | wait(0.6); |
tedparrott6 | 2:9448381519ed | 120 | |
tedparrott6 | 2:9448381519ed | 121 | //m5.SetCRSpeed(0.0073); |
tedparrott6 | 2:9448381519ed | 122 | //m6.SetCRSpeed(0.1174); |
tedparrott6 | 2:9448381519ed | 123 | //m7.SetCRSpeed(0); |
tedparrott6 | 2:9448381519ed | 124 | //m8.SetCRSpeed(0); |
tedparrott6 | 2:9448381519ed | 125 | m5.SetGoal(172); |
tedparrott6 | 2:9448381519ed | 126 | m6.SetGoal(175); |
tedparrott6 | 2:9448381519ed | 127 | m7.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 128 | m8.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 129 | pc.printf("\n\r7"); |
tedparrott6 | 2:9448381519ed | 130 | wait(0.2); |
tedparrott6 | 2:9448381519ed | 131 | |
tedparrott6 | 2:9448381519ed | 132 | //m5.SetCRSpeed(0.0073); |
tedparrott6 | 2:9448381519ed | 133 | //m6.SetCRSpeed(0.0881); |
tedparrott6 | 2:9448381519ed | 134 | //m7.SetCRSpeed(0.0037); |
tedparrott6 | 2:9448381519ed | 135 | //m8.SetCRSpeed(0); |
tedparrott6 | 2:9448381519ed | 136 | m5.SetGoal(170); |
tedparrott6 | 2:9448381519ed | 137 | m6.SetGoal(151); |
tedparrott6 | 2:9448381519ed | 138 | m7.SetGoal(149); |
tedparrott6 | 2:9448381519ed | 139 | m8.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 140 | pc.printf("\n\r8"); |
tedparrott6 | 2:9448381519ed | 141 | wait(0.1); |
tedparrott6 | 2:9448381519ed | 142 | |
tedparrott6 | 2:9448381519ed | 143 | //m4.SetCRSpeed(0.01467); |
tedparrott6 | 2:9448381519ed | 144 | //m3.SetCRSpeed(0.00734); |
tedparrott6 | 2:9448381519ed | 145 | //m2.SetCRSpeed(0.0106); |
tedparrott6 | 2:9448381519ed | 146 | //m1.SetCRSpeed(0.0025); |
tedparrott6 | 2:9448381519ed | 147 | m4.SetGoal(158); |
tedparrott6 | 2:9448381519ed | 148 | m3.SetGoal(141); |
tedparrott6 | 2:9448381519ed | 149 | m2.SetGoal(164.33); |
tedparrott6 | 2:9448381519ed | 150 | m1.SetGoal(146.6); |
tedparrott6 | 2:9448381519ed | 151 | pc.printf("\n\r9"); |
tedparrott6 | 2:9448381519ed | 152 | wait(0.2); |
tedparrott6 | 2:9448381519ed | 153 | |
tedparrott6 | 2:9448381519ed | 154 | //m4.SetCRSpeed(0.011); |
tedparrott6 | 2:9448381519ed | 155 | //m3.SetCRSpeed(0.02935); |
tedparrott6 | 2:9448381519ed | 156 | //m2.SetCRSpeed(0.0264); |
tedparrott6 | 2:9448381519ed | 157 | //m1.SetCRSpeed(0.0062); |
tedparrott6 | 2:9448381519ed | 158 | m4.SetGoal(161); |
tedparrott6 | 2:9448381519ed | 159 | m3.SetGoal(133); |
tedparrott6 | 2:9448381519ed | 160 | m2.SetGoal(157.14); |
tedparrott6 | 2:9448381519ed | 161 | m1.SetGoal(148.3); |
tedparrott6 | 2:9448381519ed | 162 | pc.printf("\n\r10"); |
tedparrott6 | 2:9448381519ed | 163 | wait(0.1); |
tedparrott6 | 2:9448381519ed | 164 | |
tedparrott6 | 2:9448381519ed | 165 | //m5.SetCRSpeed(0.0073); |
tedparrott6 | 2:9448381519ed | 166 | //m6.SetCRSpeed(0.0147); |
tedparrott6 | 2:9448381519ed | 167 | //m7.SetCRSpeed(0.0073); |
tedparrott6 | 2:9448381519ed | 168 | //m8.SetCRSpeed(0); |
tedparrott6 | 2:9448381519ed | 169 | m5.SetGoal(169); |
tedparrott6 | 2:9448381519ed | 170 | m6.SetGoal(153); |
tedparrott6 | 2:9448381519ed | 171 | m7.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 172 | m8.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 173 | pc.printf("\n\r11"); |
tedparrott6 | 2:9448381519ed | 174 | wait(0.2); |
tedparrott6 | 2:9448381519ed | 175 | |
tedparrott6 | 2:9448381519ed | 176 | //m5.SetCRSpeed(0.0049); |
tedparrott6 | 2:9448381519ed | 177 | //m6.SetCRSpeed(0.0538); |
tedparrott6 | 2:9448381519ed | 178 | //m7.SetCRSpeed(0.0342); |
tedparrott6 | 2:9448381519ed | 179 | //m8.SetCRSpeed(0.0098); |
tedparrott6 | 2:9448381519ed | 180 | m5.SetGoal(168); |
tedparrott6 | 2:9448381519ed | 181 | m6.SetGoal(164); |
tedparrott6 | 2:9448381519ed | 182 | m7.SetGoal(157); |
tedparrott6 | 2:9448381519ed | 183 | m8.SetGoal(148); |
tedparrott6 | 2:9448381519ed | 184 | pc.printf("\n\r12"); |
tedparrott6 | 2:9448381519ed | 185 | wait(0.1); |
tedparrott6 | 2:9448381519ed | 186 | |
tedparrott6 | 2:9448381519ed | 187 | //m4.SetCRSpeed(0.02726); |
tedparrott6 | 2:9448381519ed | 188 | //m3.SetCRSpeed(0.08597); |
tedparrott6 | 2:9448381519ed | 189 | //m2.SetCRSpeed(0.0761); |
tedparrott6 | 2:9448381519ed | 190 | //m1.SetCRSpeed(0.0178); |
tedparrott6 | 2:9448381519ed | 191 | m4.SetGoal(148); |
tedparrott6 | 2:9448381519ed | 192 | m3.SetGoal(92); |
tedparrott6 | 2:9448381519ed | 193 | m2.SetGoal(120.83); |
tedparrott6 | 2:9448381519ed | 194 | m1.SetGoal(156.8); |
tedparrott6 | 2:9448381519ed | 195 | pc.printf("\n\r13"); |
tedparrott6 | 2:9448381519ed | 196 | wait(0.2); |
tedparrott6 | 2:9448381519ed | 197 | |
tedparrott6 | 2:9448381519ed | 198 | //m5.SetCRSpeed(0.022); |
tedparrott6 | 2:9448381519ed | 199 | //m6.SetCRSpeed(0.0294); |
tedparrott6 | 2:9448381519ed | 200 | //m7.SetCRSpeed(0.0367); |
tedparrott6 | 2:9448381519ed | 201 | //m8.SetCRSpeed(0.011); |
tedparrott6 | 2:9448381519ed | 202 | m5.SetGoal(174); |
tedparrott6 | 2:9448381519ed | 203 | m6.SetGoal(172); |
tedparrott6 | 2:9448381519ed | 204 | m7.SetGoal(147); |
tedparrott6 | 2:9448381519ed | 205 | m8.SetGoal(151); |
tedparrott6 | 2:9448381519ed | 206 | pc.printf("\n\r14"); |
tedparrott6 | 2:9448381519ed | 207 | wait(0.4); |
tedparrott6 | 2:9448381519ed | 208 | |
tedparrott6 | 2:9448381519ed | 209 | //m5.SetCRSpeed(0.0624); |
tedparrott6 | 2:9448381519ed | 210 | //m6.SetCRSpeed(0.0183); |
tedparrott6 | 2:9448381519ed | 211 | //m7.SetCRSpeed(0.022); |
tedparrott6 | 2:9448381519ed | 212 | //m8.SetCRSpeed(0.0037); |
tedparrott6 | 2:9448381519ed | 213 | m5.SetGoal(157); |
tedparrott6 | 2:9448381519ed | 214 | m6.SetGoal(167); |
tedparrott6 | 2:9448381519ed | 215 | m7.SetGoal(141); |
tedparrott6 | 2:9448381519ed | 216 | m8.SetGoal(152); |
tedparrott6 | 2:9448381519ed | 217 | pc.printf("\n\r15"); |
tedparrott6 | 2:9448381519ed | 218 | wait(0.1); |
tedparrott6 | 2:9448381519ed | 219 | |
tedparrott6 | 2:9448381519ed | 220 | //m4.SetCRSpeed(0.04892); |
tedparrott6 | 2:9448381519ed | 221 | //m3.SetCRSpeed(0.03424); |
tedparrott6 | 2:9448381519ed | 222 | //m2.SetCRSpeed(0.0584); |
tedparrott6 | 2:9448381519ed | 223 | //m1.SetCRSpeed(0.0133); |
tedparrott6 | 2:9448381519ed | 224 | m4.SetGoal(138); |
tedparrott6 | 2:9448381519ed | 225 | m3.SetGoal(85); |
tedparrott6 | 2:9448381519ed | 226 | m2.SetGoal(132.77); |
tedparrott6 | 2:9448381519ed | 227 | m1.SetGoal(154.08); |
tedparrott6 | 2:9448381519ed | 228 | pc.printf("\n\r16"); |
tedparrott6 | 2:9448381519ed | 229 | wait(0.3); |
tedparrott6 | 2:9448381519ed | 230 | |
tedparrott6 | 2:9448381519ed | 231 | //m4.SetCRSpeed(0.02202); |
tedparrott6 | 2:9448381519ed | 232 | //m3.SetCRSpeed(0.0587); |
tedparrott6 | 2:9448381519ed | 233 | //m2.SetCRSpeed(0.0421); |
tedparrott6 | 2:9448381519ed | 234 | //m1.SetCRSpeed(0.01); |
tedparrott6 | 2:9448381519ed | 235 | //m5.SetCRSpeed(0.0212); |
tedparrott6 | 2:9448381519ed | 236 | //m6.SetCRSpeed(0.0147); |
tedparrott6 | 2:9448381519ed | 237 | //m7.SetCRSpeed(0.0065); |
tedparrott6 | 2:9448381519ed | 238 | //m8.SetCRSpeed(0.0016); |
tedparrott6 | 2:9448381519ed | 239 | m4.SetGoal(129); |
tedparrott6 | 2:9448381519ed | 240 | m3.SetGoal(109); |
tedparrott6 | 2:9448381519ed | 241 | m2.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 242 | m1.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 243 | m5.SetGoal(144); |
tedparrott6 | 2:9448381519ed | 244 | m6.SetGoal(158); |
tedparrott6 | 2:9448381519ed | 245 | m7.SetGoal(137); |
tedparrott6 | 2:9448381519ed | 246 | m8.SetGoal(153); |
tedparrott6 | 2:9448381519ed | 247 | pc.printf("\n\r17"); |
tedparrott6 | 2:9448381519ed | 248 | wait(0.6); |
tedparrott6 | 2:9448381519ed | 249 | |
tedparrott6 | 2:9448381519ed | 250 | //m4.SetCRSpeed(0.0073); |
tedparrott6 | 2:9448381519ed | 251 | //m3.SetCRSpeed(0.11742); |
tedparrott6 | 2:9448381519ed | 252 | //m2.SetCRSpeed(0); |
tedparrott6 | 2:9448381519ed | 253 | //m1.SetCRSpeed(0); |
tedparrott6 | 2:9448381519ed | 254 | m4.SetGoal(128); |
tedparrott6 | 2:9448381519ed | 255 | m3.SetGoal(125); |
tedparrott6 | 2:9448381519ed | 256 | m2.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 257 | m1.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 258 | pc.printf("\n\r18"); |
tedparrott6 | 2:9448381519ed | 259 | wait(0.2); |
tedparrott6 | 2:9448381519ed | 260 | |
tedparrott6 | 2:9448381519ed | 261 | //m4.SetCRSpeed(0.0073); |
tedparrott6 | 2:9448381519ed | 262 | //m3.SetCRSpeed(0.0886); |
tedparrott6 | 2:9448381519ed | 263 | //m2.SetCRSpeed(0.0052); |
tedparrott6 | 2:9448381519ed | 264 | //m1.SetCRSpeed(0.0012); |
tedparrott6 | 2:9448381519ed | 265 | m4.SetGoal(130); |
tedparrott6 | 2:9448381519ed | 266 | m3.SetGoal(149); |
tedparrott6 | 2:9448381519ed | 267 | m2.SetGoal(151.43); |
tedparrott6 | 2:9448381519ed | 268 | m1.SetGoal(149.66); |
tedparrott6 | 2:9448381519ed | 269 | pc.printf("\n\r19"); |
tedparrott6 | 2:9448381519ed | 270 | wait(0.1); |
tedparrott6 | 2:9448381519ed | 271 | |
tedparrott6 | 2:9448381519ed | 272 | //m5.SetCRSpeed(0.0147); |
tedparrott6 | 2:9448381519ed | 273 | //m6.SetCRSpeed(0.0073); |
tedparrott6 | 2:9448381519ed | 274 | //m7.SetCRSpeed(0.0073); |
tedparrott6 | 2:9448381519ed | 275 | //m8.SetCRSpeed(0.0); |
tedparrott6 | 2:9448381519ed | 276 | m5.SetGoal(142); |
tedparrott6 | 2:9448381519ed | 277 | m6.SetGoal(159); |
tedparrott6 | 2:9448381519ed | 278 | m7.SetGoal(136); |
tedparrott6 | 2:9448381519ed | 279 | m8.SetGoal(153); |
tedparrott6 | 2:9448381519ed | 280 | pc.printf("\n\r20"); |
tedparrott6 | 2:9448381519ed | 281 | wait(0.2); |
tedparrott6 | 2:9448381519ed | 282 | |
tedparrott6 | 2:9448381519ed | 283 | //m5.SetCRSpeed(0.011); |
tedparrott6 | 2:9448381519ed | 284 | //m6.SetCRSpeed(0.0294); |
tedparrott6 | 2:9448381519ed | 285 | //m7.SetCRSpeed(0.0257); |
tedparrott6 | 2:9448381519ed | 286 | //m8.SetCRSpeed(0.0037); |
tedparrott6 | 2:9448381519ed | 287 | m5.SetGoal(139); |
tedparrott6 | 2:9448381519ed | 288 | m6.SetGoal(167); |
tedparrott6 | 2:9448381519ed | 289 | m7.SetGoal(143); |
tedparrott6 | 2:9448381519ed | 290 | m8.SetGoal(152); |
tedparrott6 | 2:9448381519ed | 291 | pc.printf("\n\r21"); |
tedparrott6 | 2:9448381519ed | 292 | wait(0.1); |
tedparrott6 | 2:9448381519ed | 293 | |
tedparrott6 | 2:9448381519ed | 294 | //m4.SetCRSpeed(0.0073); |
tedparrott6 | 2:9448381519ed | 295 | //m3.SetCRSpeed(0.01467); |
tedparrott6 | 2:9448381519ed | 296 | //m2.SetCRSpeed(0.0105); |
tedparrott6 | 2:9448381519ed | 297 | //m1.SetCRSpeed(0.0025); |
tedparrott6 | 2:9448381519ed | 298 | m4.SetGoal(131); |
tedparrott6 | 2:9448381519ed | 299 | m3.SetGoal(147); |
tedparrott6 | 2:9448381519ed | 300 | m2.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 301 | m1.SetGoal(150); |
tedparrott6 | 2:9448381519ed | 302 | pc.printf("\n\r22"); |
tedparrott6 | 2:9448381519ed | 303 | wait(0.2); |
tedparrott6 | 2:9448381519ed | 304 | |
chris | 0:f6f8cf11779f | 305 | } |
chris | 0:f6f8cf11779f | 306 | } |