Diff: Motor_tryout.cpp

Revision:

24:61d03692f92e

Parent:

23:18b0be02187f

Child:

25:eb3204e45d33

--- a/Motor_tryout.cpp	Fri Oct 25 12:13:44 2019 +0000
+++ b/Motor_tryout.cpp	Fri Oct 25 13:45:39 2019 +0000
@@ -171,23 +171,38 @@
     check1 = true;
     check2 = true;
     check3 = true; 
+    
+    counts1=0;
+    counts2=0;
+    counts3=0;
+    
+    pulses.attach(&getpulses, 1.0/1000);
+    for (int i=0; i<100; i++)  {
+        pc.printf("\n\rcounts1 %i", counts1);
+        wait(0.001);
+        }
+    
                 
     while (check1 || check2 || check3)    {
-     pulses.attach(&getpulses, 1.0/1000);
     pc.printf("\n\r counts1 %i", counts1);
-         wait(1/500);
+    pulses.attach(&getpulses, 1.0/10000);
+         
+         wait(1/1000);
         if(abs(counts1)>=abs(steps1)) {
-            pc.printf("\n\r counts1 %i and steps1 %f", counts1, steps1);
+ //           pc.printf("\n\r counts1 %i and steps1 %f", counts1, steps1);
+    pc.printf("\n 1 is false");
             motor1_pwm.write(0);
             check1=false;
             counts1=0;
             }
         if (abs(counts2)>=abs(steps2))   {
+            pc.printf("\n 2 is false");
             motor2_pwm.write(0);
             check2=false;
             counts2=0;
             }
         if (abs(counts3)>=abs(steps3))  {
+            pc.printf("\n 3 is false");
             motor3_pwm.write(0);
             check3=false;
             //pc.printf("\n\rsteps %f, counts %f", steps3, counts3);
@@ -211,62 +226,62 @@
 char cc = pc.getc();
 
 if (cc=='d') {
-    x0=x0+2.0f;
+    x0=x0+5.0f;
     if (x0>=-75 && x0<=75)   {
         movefunction ();
         }
             else    {
-                x0=x0-2.0f;
+                x0=x0-5.0f;
                 }
 }
 
 if (cc=='a') {
-x0=x0-2.0f;
+x0=x0-5.0f;
 if (x0>=-75 && x0<=75)   {
     movefunction ();
     }
     else    {
-            x0=x0+2.0f;
+            x0=x0+5.0f;
             }
 }
 
 if (cc=='w') {
-y0=y0+2.0f;
+y0=y0+5.0f;
 if (y0>=-75 && y0<=75)   {
     movefunction ();
     }
     else    {
-            y0=y0-2.0f;
+            y0=y0-5.0f;
             }
 }
 
 if (cc=='s') {
-y0=y0-2.0f;
+y0=y0-5.0f;
 if (y0>=-75 && y0<=75)   {
     movefunction ();
     }
     else    {
-            y0=y0+2.0f;
+            y0=y0+5.0f;
             }
 }
 
 if (cc=='u') {
-z0=z0+2.0f;
+z0=z0+5.0f;
 if (z0>=-210 && z0<=-130)   {
     movefunction ();
     }
     else    {
-            z0=z0-2.0f;
+            z0=z0-5.0f;
             }
 }
 
 if (cc=='j') {
-z0=z0-2.0f;
+z0=z0-5.0f;
 if (z0>=-210 && z0<=-130)   {
     movefunction ();
     }
     else    {
-            z0=z0+2.0f;
+            z0=z0+5.0f;
             }
 }                                       
 }