Diff: main.cpp

Revision:

5:cec7f85ce6c4

Parent:

4:2f4d485ebe58

Child:

6:4b007c7f0b7a

--- a/main.cpp	Sat Jun 22 17:57:41 2019 +0000
+++ b/main.cpp	Mon Jun 24 15:25:36 2019 +0000
@@ -45,10 +45,10 @@
 const uint8_t sensormap[16] = {0,1,2,3,4,5,10,7,8,9,6,11};
 //const float actionstime[16]={5,5,5,5,5,5,5,5,2,5,5,5,5,5,5,5};
 const Action actions[16]=         {MLIT,MUS,OPEN,OPEN,KACH,OPEN,OPEN,OPEN,SLOW,OPEN,KACH,OPEN};
-const float   actionstime[16] =      {5,   5,  5,    5,   5,   5,   5,   5,   2,   5,  5,   5,   5,   5,   5,   5};
-const uint8_t servoLimitsStart[16]= {20,  85, 30,   40,   0,  20, 155, 105, 150,  45, 75, 130,   0,   0,   0,   0};
-const uint8_t servoLimitsCenter[16]={40, 110, 30,   40,   0,  20, 155, 105, 150,  45, 85, 130,   0,   0,   0,   0};
-const uint8_t servoLimitsEnd[16]=   {60, 135, 50,  130, 180, 140,  70,  75,  40, 130, 95,  50, 180, 180, 180, 180};
+const float   actionstime[16] =      {5,   5,  5,    5,   7,   3,   5,   5,   2,   5,  7,   6,   5,   5,   5,   5};
+const uint8_t servoLimitsStart[16]= {20,  85, 27,   35,   0,  23, 155, 106, 150,  45, 80, 136,   0,   0,   0,   0};
+const uint8_t servoLimitsCenter[16]={31, 108, 27,   35,   0,  23, 155, 106, 150,  45, 85, 136,   0,   0,   0,   0};
+const uint8_t servoLimitsEnd[16]=   {40, 135, 45,   90, 180,  90,  70,  75,  40, 120, 90,  55, 180, 180, 180, 180};
 
 
 volatile int lastpos=0;
@@ -82,7 +82,7 @@
     mp3.mp3_play(id+1);
     while(at.read()<time)
     {
-        setservo(id,servoLimitsCenter[id]+sin(at.read())*(servoLimitsEnd[id]-servoLimitsStart[id]));
+        setservo(id,servoLimitsCenter[id]+sin(at.read()*2)*(servoLimitsEnd[id]-servoLimitsStart[id]));
         wait(0.03);
     }
     setservo(id,servoLimitsCenter[id]);
@@ -97,13 +97,19 @@
     while(at.read()<time)
     {
         
-        setservo(id2,servoLimitsCenter[id2]+(1-sin(at.read()*3))*(servoLimitsEnd[id2]-servoLimitsStart[id2])/2);
-        setservo(id1,servoLimitsCenter[id1]+sin(at.read()*3)*(servoLimitsEnd[id1]-servoLimitsStart[id1])/2);
+        //setservo(id2,servoLimitsCenter[id2]+(1-sin(at.read()*3))*(servoLimitsEnd[id2]-servoLimitsStart[id2])/2);
+        setservo(id2,servoLimitsCenter[id2]+sin(at.read()*3)*(servoLimitsEnd[id2]-servoLimitsStart[id2])/2);
+        
+        setservo(id1,servoLimitsCenter[id1]+cos((at.read()*3)+1)*(servoLimitsEnd[id1]-servoLimitsStart[id1])/2);
         wait(0.03);
+        
+        
     }
+    setservo(id1,servoLimitsCenter[id1]+1);
+    setservo(id2,servoLimitsCenter[id2]-1);
+    wait(1);
     setservo(id1,servoLimitsCenter[id1]);
     setservo(id2,servoLimitsCenter[id2]);
-
 }
 
 void open(int id,float time)