Diff: Motor_tryout.cpp

Revision:

34:0af87f9cfb7b

Parent:

33:88fbf14d8aaf

--- a/Motor_tryout.cpp	Thu Oct 31 15:02:17 2019 +0000
+++ b/Motor_tryout.cpp	Thu Oct 31 15:16:16 2019 +0000
@@ -193,10 +193,9 @@
     
 //    z0 = -172.0 + 10* sin(time_sin); 
 
-float r = 20*(1-1/(1+(time_sin)));
-    x0 = r*sin(6.28 * time_sin);
-    y0 = r*cos(6.28 * time_sin);
-     
+//float r = 20*(1-1/(1+(time_sin)));
+//    x0 = r*sin(6.28 * time_sin);
+//    y0 = r*cos(6.28 * time_sin);
 
     delta_calctheta1 ();  
     delta_calctheta2 ();
@@ -271,6 +270,31 @@
     motor3_pwm.period_us(6);
 
     while(true){
+        char cc = pc.getc();
+
+        if (cc=='d' && x0>=-76 && x0<=75) {
+            x0=x0+1.0f ;
+            }
+
+        if (cc=='a' && x0>=-75 && x0<=76) {
+            x0=x0-1.0f;
+            }
+
+        if (cc=='w' && y0>=-76 && y0<=75){
+            y0=y0+1.0f;
+            }
+
+        if (cc=='s' && y0>=-75 && y0<=76){
+            y0=y0-1.0f;
+            }
+
+        if (cc=='u' && z0>=-211 && z0<=-130){
+            z0=z0+1.0f;
+            }
+
+        if (cc=='j' && z0>=-210 && z0<=-129){
+            z0=z0-1.0f;
+            }
         
         
         }