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Signa-bot code for project BioRobotics, at University of Twente.
Dependencies: mbed QEI MODSERIAL FastPWM ttmath Math
Motor_tryout.cpp@26:432d3519ba86, 2019-10-29 (annotated)
- Committer:
- viviien
- Date:
- Tue Oct 29 10:05:50 2019 +0000
- Revision:
- 26:432d3519ba86
- Parent:
- 25:eb3204e45d33
- Child:
- 27:3eb181cbe183
Het weeeeerkt
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Feike | 4:bd21569250c7 | 1 | #include "mbed.h" |
Feike | 8:017b813c72bb | 2 | #include "MODSERIAL.h" |
Feike | 12:2382468d36a4 | 3 | #include "QEI.h" |
Feike | 18:ab0fe311e7f3 | 4 | #include "Math.h" |
Feike | 18:ab0fe311e7f3 | 5 | #include "ttmath.h" |
Feike | 18:ab0fe311e7f3 | 6 | |
Feike | 17:6da57acb7bea | 7 | MODSERIAL pc(USBTX, USBRX); |
Feike | 18:ab0fe311e7f3 | 8 | //Serial term (USBTX, USBRX); |
Feike | 17:6da57acb7bea | 9 | PwmOut motor1_pwm(PTC2); |
Feike | 17:6da57acb7bea | 10 | DigitalOut motor1_dir(PTC3); |
Feike | 18:ab0fe311e7f3 | 11 | PwmOut motor2_pwm(PTA2); |
Feike | 18:ab0fe311e7f3 | 12 | DigitalOut motor2_dir(PTB23); |
Feike | 18:ab0fe311e7f3 | 13 | PwmOut motor3_pwm(PTC4); |
Feike | 18:ab0fe311e7f3 | 14 | DigitalOut motor3_dir(PTC12); |
Feike | 4:bd21569250c7 | 15 | |
viviien | 23:18b0be02187f | 16 | QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 17 | QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 18 | QEI Encoder3(D2,D3,NC,64,QEI::X4_ENCODING); |
Feike | 7:e119b12e5e7f | 19 | |
viviien | 25:eb3204e45d33 | 20 | float steps1 = 0; |
viviien | 25:eb3204e45d33 | 21 | float steps2 = 0; |
viviien | 25:eb3204e45d33 | 22 | float steps3 = 0; |
Feike | 19:9c8ab7922191 | 23 | int check; |
Feike | 13:18dd7a15603f | 24 | int quit; |
Feike | 19:9c8ab7922191 | 25 | int limit_pos = 8400; |
Feike | 19:9c8ab7922191 | 26 | float steps; |
Feike | 19:9c8ab7922191 | 27 | int g = 0; |
Feike | 19:9c8ab7922191 | 28 | |
Feike | 19:9c8ab7922191 | 29 | bool check1; |
Feike | 19:9c8ab7922191 | 30 | bool check2; |
Feike | 19:9c8ab7922191 | 31 | bool check3; |
Feike | 18:ab0fe311e7f3 | 32 | int counts1 = 0; |
Feike | 18:ab0fe311e7f3 | 33 | int counts2 = 0; |
Feike | 18:ab0fe311e7f3 | 34 | int counts3 = 0; |
viviien | 25:eb3204e45d33 | 35 | int count1old = 0; |
viviien | 25:eb3204e45d33 | 36 | int countdiff = 0; |
viviien | 25:eb3204e45d33 | 37 | int counting1 = 0; |
Feike | 13:18dd7a15603f | 38 | |
Feike | 18:ab0fe311e7f3 | 39 | const float le = 15.0; |
Feike | 18:ab0fe311e7f3 | 40 | const float f = 37.5; |
Feike | 18:ab0fe311e7f3 | 41 | const float re = 174.0; |
Feike | 18:ab0fe311e7f3 | 42 | const float rf = 50.0; |
Feike | 18:ab0fe311e7f3 | 43 | const float pi = 3.14159265358979323846; |
viviien | 22:9f911405e096 | 44 | const float cospi = -0.5; |
viviien | 22:9f911405e096 | 45 | const float sinpi = 0.8660254; |
Feike | 18:ab0fe311e7f3 | 46 | float y2; |
Feike | 18:ab0fe311e7f3 | 47 | float y1; |
Feike | 18:ab0fe311e7f3 | 48 | float z1; |
Feike | 18:ab0fe311e7f3 | 49 | float z2; |
Feike | 18:ab0fe311e7f3 | 50 | float rje2; |
Feike | 18:ab0fe311e7f3 | 51 | float rje; |
Feike | 18:ab0fe311e7f3 | 52 | float r2; |
Feike | 18:ab0fe311e7f3 | 53 | float r; |
Feike | 19:9c8ab7922191 | 54 | |
Feike | 18:ab0fe311e7f3 | 55 | float z0=-172; |
Feike | 18:ab0fe311e7f3 | 56 | float y0=0; |
Feike | 18:ab0fe311e7f3 | 57 | float x0=0; |
viviien | 21:c826abca79c3 | 58 | float x00; |
viviien | 21:c826abca79c3 | 59 | float y00; |
viviien | 21:c826abca79c3 | 60 | float z00; |
Feike | 19:9c8ab7922191 | 61 | |
Feike | 18:ab0fe311e7f3 | 62 | float theta1; |
Feike | 18:ab0fe311e7f3 | 63 | float theta2; |
Feike | 18:ab0fe311e7f3 | 64 | float theta3; |
Feike | 18:ab0fe311e7f3 | 65 | float oldtheta1=0; |
Feike | 18:ab0fe311e7f3 | 66 | float oldtheta2=0; |
Feike | 18:ab0fe311e7f3 | 67 | float oldtheta3=0; |
Feike | 19:9c8ab7922191 | 68 | |
viviien | 25:eb3204e45d33 | 69 | Ticker pulses1; |
viviien | 25:eb3204e45d33 | 70 | void getpulses1() { |
viviien | 23:18b0be02187f | 71 | counts1 = Encoder1.getPulses(); |
viviien | 25:eb3204e45d33 | 72 | } |
viviien | 25:eb3204e45d33 | 73 | Ticker pulses2; |
viviien | 25:eb3204e45d33 | 74 | void getpulses2() { |
viviien | 23:18b0be02187f | 75 | counts2 = Encoder2.getPulses(); |
viviien | 25:eb3204e45d33 | 76 | } |
viviien | 25:eb3204e45d33 | 77 | Ticker pulses3; |
viviien | 25:eb3204e45d33 | 78 | void getpulses3() { |
viviien | 23:18b0be02187f | 79 | counts3 = Encoder3.getPulses(); |
viviien | 23:18b0be02187f | 80 | } |
viviien | 25:eb3204e45d33 | 81 | |
viviien | 23:18b0be02187f | 82 | |
viviien | 21:c826abca79c3 | 83 | float delta_calcangleyz(float x00, float y00, float z00) { |
viviien | 21:c826abca79c3 | 84 | float y2 = y00 + le; |
Feike | 18:ab0fe311e7f3 | 85 | float y1 = f; |
Feike | 18:ab0fe311e7f3 | 86 | float z1 = 0.0; |
viviien | 21:c826abca79c3 | 87 | float z2 = z00; |
viviien | 21:c826abca79c3 | 88 | float rje2 = re*re - x00*x00; |
Feike | 18:ab0fe311e7f3 | 89 | float rje = sqrt(rje2); |
viviien | 22:9f911405e096 | 90 | float r2 = (y1-y2)*(y1-y2) + (z1-z00)*(z1-z00); |
Feike | 18:ab0fe311e7f3 | 91 | float r = sqrt(r2); |
Feike | 18:ab0fe311e7f3 | 92 | |
Feike | 19:9c8ab7922191 | 93 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
Feike | 19:9c8ab7922191 | 94 | int check = 1; |
Feike | 19:9c8ab7922191 | 95 | pc.printf("\n\rPunt bestaat niet"); |
Feike | 19:9c8ab7922191 | 96 | } |
Feike | 19:9c8ab7922191 | 97 | else { |
Feike | 19:9c8ab7922191 | 98 | float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
Feike | 19:9c8ab7922191 | 99 | float beta = atan((z1-z2)/(y1-y2)); |
Feike | 19:9c8ab7922191 | 100 | if(beta<0) { |
Feike | 18:ab0fe311e7f3 | 101 | beta = beta + pi; |
Feike | 18:ab0fe311e7f3 | 102 | } |
Feike | 19:9c8ab7922191 | 103 | float theta1 = (beta - alpha)*180.0/pi; |
Feike | 19:9c8ab7922191 | 104 | return theta1; |
viviien | 22:9f911405e096 | 105 | } |
Feike | 18:ab0fe311e7f3 | 106 | } |
Feike | 18:ab0fe311e7f3 | 107 | |
viviien | 21:c826abca79c3 | 108 | float delta_calcinverse(float x00, float y00, float z00) { |
viviien | 21:c826abca79c3 | 109 | theta1 = theta2 = theta3 = 0; |
viviien | 22:9f911405e096 | 110 | x00=x0; |
viviien | 22:9f911405e096 | 111 | y00=y0; |
viviien | 22:9f911405e096 | 112 | z00=z0; |
viviien | 21:c826abca79c3 | 113 | theta1 = delta_calcangleyz(x00, y00, z00); |
viviien | 21:c826abca79c3 | 114 | |
viviien | 21:c826abca79c3 | 115 | if (check == 0) { |
viviien | 21:c826abca79c3 | 116 | x00=x0*cospi+y0*sinpi; |
viviien | 21:c826abca79c3 | 117 | y00=y0*cospi-x0*sinpi; |
viviien | 21:c826abca79c3 | 118 | z00=z0; |
viviien | 22:9f911405e096 | 119 | theta2 = delta_calcangleyz(x00, y00, z00); |
viviien | 21:c826abca79c3 | 120 | x00=x0*cospi-y0*sinpi; |
viviien | 21:c826abca79c3 | 121 | y00=y0*cospi+y0*sinpi; |
viviien | 21:c826abca79c3 | 122 | z00=z0; |
viviien | 22:9f911405e096 | 123 | theta3 = delta_calcangleyz(x00, y00, z00); |
viviien | 21:c826abca79c3 | 124 | } |
viviien | 21:c826abca79c3 | 125 | |
viviien | 21:c826abca79c3 | 126 | return theta1, theta2, theta3; |
Feike | 18:ab0fe311e7f3 | 127 | } |
Feike | 18:ab0fe311e7f3 | 128 | |
viviien | 23:18b0be02187f | 129 | |
Feike | 12:2382468d36a4 | 130 | |
Feike | 19:9c8ab7922191 | 131 | float anglestep(float angle) { |
Feike | 18:ab0fe311e7f3 | 132 | float steps; |
Feike | 18:ab0fe311e7f3 | 133 | steps = angle / 360 * 8400; |
Feike | 18:ab0fe311e7f3 | 134 | return steps; |
Feike | 17:6da57acb7bea | 135 | } |
Feike | 17:6da57acb7bea | 136 | |
viviien | 21:c826abca79c3 | 137 | |
viviien | 22:9f911405e096 | 138 | float movefunction() { |
viviien | 21:c826abca79c3 | 139 | |
viviien | 22:9f911405e096 | 140 | theta1 = delta_calcinverse(x00,y00,z00); |
viviien | 21:c826abca79c3 | 141 | pc.printf("\n\r de hoeken zijn(%f, %f, %f)", theta1, theta2, theta3); |
viviien | 21:c826abca79c3 | 142 | pc.printf("\n\r coordinaten(%f, %f, %f)", x0, y0, z0); |
viviien | 21:c826abca79c3 | 143 | |
viviien | 21:c826abca79c3 | 144 | theta1 = theta1 - oldtheta1; |
viviien | 21:c826abca79c3 | 145 | theta2 = theta2 - oldtheta2; |
viviien | 21:c826abca79c3 | 146 | theta3 = theta3 - oldtheta3; |
viviien | 21:c826abca79c3 | 147 | |
viviien | 25:eb3204e45d33 | 148 | steps1 = anglestep(theta1); |
viviien | 25:eb3204e45d33 | 149 | pc.printf("\n\rsteps1.1 %f", steps1); |
viviien | 25:eb3204e45d33 | 150 | steps2 = anglestep(theta2); |
viviien | 25:eb3204e45d33 | 151 | steps3 = anglestep(theta3); |
viviien | 21:c826abca79c3 | 152 | |
viviien | 21:c826abca79c3 | 153 | // Set the direction of the motors. |
viviien | 21:c826abca79c3 | 154 | if (theta1 < 0) { |
viviien | 21:c826abca79c3 | 155 | motor1_dir.write(1); |
viviien | 21:c826abca79c3 | 156 | } |
viviien | 21:c826abca79c3 | 157 | else { |
viviien | 21:c826abca79c3 | 158 | motor1_dir.write(0); |
viviien | 21:c826abca79c3 | 159 | } |
viviien | 21:c826abca79c3 | 160 | |
viviien | 21:c826abca79c3 | 161 | if (theta2 < 0) { |
viviien | 21:c826abca79c3 | 162 | motor2_dir.write(0); |
viviien | 21:c826abca79c3 | 163 | } |
viviien | 21:c826abca79c3 | 164 | else { |
viviien | 21:c826abca79c3 | 165 | motor2_dir.write(1); |
viviien | 21:c826abca79c3 | 166 | } |
viviien | 21:c826abca79c3 | 167 | |
viviien | 21:c826abca79c3 | 168 | if (theta3 < 0) { |
viviien | 21:c826abca79c3 | 169 | motor3_dir.write(0); |
viviien | 21:c826abca79c3 | 170 | } |
viviien | 21:c826abca79c3 | 171 | else { |
viviien | 21:c826abca79c3 | 172 | motor3_dir.write(1); |
viviien | 21:c826abca79c3 | 173 | } |
viviien | 21:c826abca79c3 | 174 | |
viviien | 21:c826abca79c3 | 175 | int frequency_pwm = 10000; //10 kHz PWM |
viviien | 21:c826abca79c3 | 176 | motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 21:c826abca79c3 | 177 | motor1_pwm.write(0.7); // write Duty Cycle |
viviien | 21:c826abca79c3 | 178 | |
viviien | 21:c826abca79c3 | 179 | motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 21:c826abca79c3 | 180 | motor2_pwm.write(0.7); // write Duty Cycle |
viviien | 21:c826abca79c3 | 181 | |
viviien | 21:c826abca79c3 | 182 | motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 22:9f911405e096 | 183 | motor3_pwm.write(0.7); // write Duty Cycle |
viviien | 22:9f911405e096 | 184 | |
viviien | 22:9f911405e096 | 185 | check1 = true; |
viviien | 22:9f911405e096 | 186 | check2 = true; |
viviien | 22:9f911405e096 | 187 | check3 = true; |
viviien | 24:61d03692f92e | 188 | |
viviien | 25:eb3204e45d33 | 189 | |
viviien | 25:eb3204e45d33 | 190 | // for (int i=0; i<100; i++) { |
viviien | 25:eb3204e45d33 | 191 | // pc.printf("\n\rcounts1 %i", counts1); |
viviien | 25:eb3204e45d33 | 192 | // wait(0.001); |
viviien | 25:eb3204e45d33 | 193 | // } |
viviien | 24:61d03692f92e | 194 | |
viviien | 25:eb3204e45d33 | 195 | pc.printf("\n\rsteps3.1 %f", steps3); |
viviien | 25:eb3204e45d33 | 196 | pc.printf("\n\rcounts3.1 %i", counts3); |
viviien | 25:eb3204e45d33 | 197 | |
viviien | 25:eb3204e45d33 | 198 | |
viviien | 21:c826abca79c3 | 199 | while (check1 || check2 || check3) { |
viviien | 25:eb3204e45d33 | 200 | pc.printf("\n\rsteps1 %f, steps2 %f, steps3 %f",steps1, steps2, steps3); |
viviien | 25:eb3204e45d33 | 201 | pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3); |
viviien | 25:eb3204e45d33 | 202 | |
viviien | 25:eb3204e45d33 | 203 | if (steps1 <= 0) { |
viviien | 25:eb3204e45d33 | 204 | if(counts1<=steps1) { |
viviien | 25:eb3204e45d33 | 205 | pc.printf("\n 1 is false"); |
viviien | 21:c826abca79c3 | 206 | motor1_pwm.write(0); |
viviien | 21:c826abca79c3 | 207 | check1=false; |
viviien | 21:c826abca79c3 | 208 | } |
viviien | 25:eb3204e45d33 | 209 | if (counts2<=steps2) { |
viviien | 24:61d03692f92e | 210 | pc.printf("\n 2 is false"); |
viviien | 21:c826abca79c3 | 211 | motor2_pwm.write(0); |
viviien | 21:c826abca79c3 | 212 | check2=false; |
viviien | 21:c826abca79c3 | 213 | } |
viviien | 25:eb3204e45d33 | 214 | if (counts3>=abs(steps3)) { |
viviien | 24:61d03692f92e | 215 | pc.printf("\n 3 is false"); |
viviien | 21:c826abca79c3 | 216 | motor3_pwm.write(0); |
viviien | 21:c826abca79c3 | 217 | check3=false; |
viviien | 26:432d3519ba86 | 218 | pc.printf("\n\rsteps3 %f", steps3); |
viviien | 25:eb3204e45d33 | 219 | pc.printf("\n\rcounts3 %i", counts3); |
viviien | 25:eb3204e45d33 | 220 | } |
viviien | 25:eb3204e45d33 | 221 | } |
viviien | 25:eb3204e45d33 | 222 | if (steps1 >= 0) { |
viviien | 25:eb3204e45d33 | 223 | if(counts1>=steps1) { |
viviien | 25:eb3204e45d33 | 224 | pc.printf("\n 1 is false"); |
viviien | 25:eb3204e45d33 | 225 | motor1_pwm.write(0); |
viviien | 25:eb3204e45d33 | 226 | check1=false; |
viviien | 21:c826abca79c3 | 227 | } |
viviien | 25:eb3204e45d33 | 228 | if (counts2>=steps2) { |
viviien | 25:eb3204e45d33 | 229 | pc.printf("\n 2 is false"); |
viviien | 25:eb3204e45d33 | 230 | motor2_pwm.write(0); |
viviien | 25:eb3204e45d33 | 231 | check2=false; |
viviien | 25:eb3204e45d33 | 232 | } |
viviien | 25:eb3204e45d33 | 233 | if (counts3<=-steps3) { |
viviien | 25:eb3204e45d33 | 234 | pc.printf("\n 3 is false"); |
viviien | 25:eb3204e45d33 | 235 | motor3_pwm.write(0); |
viviien | 25:eb3204e45d33 | 236 | check3=false; |
viviien | 25:eb3204e45d33 | 237 | } |
viviien | 25:eb3204e45d33 | 238 | } |
viviien | 25:eb3204e45d33 | 239 | |
viviien | 21:c826abca79c3 | 240 | } |
viviien | 26:432d3519ba86 | 241 | |
viviien | 25:eb3204e45d33 | 242 | wait(1.0); |
viviien | 25:eb3204e45d33 | 243 | pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3); |
viviien | 22:9f911405e096 | 244 | } |
viviien | 22:9f911405e096 | 245 | |
viviien | 22:9f911405e096 | 246 | int main(void) { |
viviien | 25:eb3204e45d33 | 247 | pulses1.attach(&getpulses1, 1.0/1000); |
viviien | 25:eb3204e45d33 | 248 | pulses2.attach(&getpulses2, 1.0/1000); |
viviien | 25:eb3204e45d33 | 249 | pulses3.attach(&getpulses3, 1.0/1000); |
viviien | 26:432d3519ba86 | 250 | |
Feike | 18:ab0fe311e7f3 | 251 | pc.baud(115200); |
Feike | 18:ab0fe311e7f3 | 252 | |
Feike | 17:6da57acb7bea | 253 | char cc = pc.getc(); |
Feike | 19:9c8ab7922191 | 254 | |
Feike | 19:9c8ab7922191 | 255 | while(true) { |
viviien | 26:432d3519ba86 | 256 | |
viviien | 26:432d3519ba86 | 257 | Encoder1.reset(); |
viviien | 26:432d3519ba86 | 258 | Encoder2.reset(); |
viviien | 26:432d3519ba86 | 259 | Encoder3.reset(); |
viviien | 26:432d3519ba86 | 260 | counts1 = Encoder1.getPulses(); |
viviien | 26:432d3519ba86 | 261 | counts2 = Encoder2.getPulses(); |
viviien | 26:432d3519ba86 | 262 | counts3 = Encoder3.getPulses(); |
viviien | 26:432d3519ba86 | 263 | |
Feike | 18:ab0fe311e7f3 | 264 | |
Feike | 19:9c8ab7922191 | 265 | delta_calcinverse(x0,y0,z0); |
Feike | 19:9c8ab7922191 | 266 | |
Feike | 19:9c8ab7922191 | 267 | oldtheta1 = theta1; |
Feike | 19:9c8ab7922191 | 268 | oldtheta2 = theta2; |
viviien | 21:c826abca79c3 | 269 | oldtheta3 = theta3; |
Feike | 18:ab0fe311e7f3 | 270 | char cc = pc.getc(); |
Feike | 18:ab0fe311e7f3 | 271 | |
viviien | 21:c826abca79c3 | 272 | if (cc=='d') { |
viviien | 24:61d03692f92e | 273 | x0=x0+5.0f; |
viviien | 22:9f911405e096 | 274 | if (x0>=-75 && x0<=75) { |
viviien | 22:9f911405e096 | 275 | movefunction (); |
viviien | 22:9f911405e096 | 276 | } |
viviien | 22:9f911405e096 | 277 | else { |
viviien | 24:61d03692f92e | 278 | x0=x0-5.0f; |
viviien | 22:9f911405e096 | 279 | } |
viviien | 21:c826abca79c3 | 280 | } |
Feike | 19:9c8ab7922191 | 281 | |
viviien | 21:c826abca79c3 | 282 | if (cc=='a') { |
viviien | 24:61d03692f92e | 283 | x0=x0-5.0f; |
viviien | 21:c826abca79c3 | 284 | if (x0>=-75 && x0<=75) { |
viviien | 21:c826abca79c3 | 285 | movefunction (); |
viviien | 21:c826abca79c3 | 286 | } |
viviien | 21:c826abca79c3 | 287 | else { |
viviien | 24:61d03692f92e | 288 | x0=x0+5.0f; |
viviien | 21:c826abca79c3 | 289 | } |
viviien | 21:c826abca79c3 | 290 | } |
viviien | 21:c826abca79c3 | 291 | |
viviien | 21:c826abca79c3 | 292 | if (cc=='w') { |
viviien | 24:61d03692f92e | 293 | y0=y0+5.0f; |
viviien | 21:c826abca79c3 | 294 | if (y0>=-75 && y0<=75) { |
viviien | 21:c826abca79c3 | 295 | movefunction (); |
viviien | 21:c826abca79c3 | 296 | } |
viviien | 21:c826abca79c3 | 297 | else { |
viviien | 24:61d03692f92e | 298 | y0=y0-5.0f; |
viviien | 21:c826abca79c3 | 299 | } |
Feike | 19:9c8ab7922191 | 300 | } |
Feike | 19:9c8ab7922191 | 301 | |
viviien | 21:c826abca79c3 | 302 | if (cc=='s') { |
viviien | 24:61d03692f92e | 303 | y0=y0-5.0f; |
viviien | 21:c826abca79c3 | 304 | if (y0>=-75 && y0<=75) { |
viviien | 21:c826abca79c3 | 305 | movefunction (); |
viviien | 21:c826abca79c3 | 306 | } |
viviien | 21:c826abca79c3 | 307 | else { |
viviien | 24:61d03692f92e | 308 | y0=y0+5.0f; |
Feike | 19:9c8ab7922191 | 309 | } |
viviien | 21:c826abca79c3 | 310 | } |
viviien | 21:c826abca79c3 | 311 | |
viviien | 21:c826abca79c3 | 312 | if (cc=='u') { |
viviien | 24:61d03692f92e | 313 | z0=z0+5.0f; |
viviien | 21:c826abca79c3 | 314 | if (z0>=-210 && z0<=-130) { |
viviien | 21:c826abca79c3 | 315 | movefunction (); |
viviien | 21:c826abca79c3 | 316 | } |
viviien | 21:c826abca79c3 | 317 | else { |
viviien | 24:61d03692f92e | 318 | z0=z0-5.0f; |
viviien | 21:c826abca79c3 | 319 | } |
viviien | 21:c826abca79c3 | 320 | } |
Feike | 18:ab0fe311e7f3 | 321 | |
viviien | 21:c826abca79c3 | 322 | if (cc=='j') { |
viviien | 24:61d03692f92e | 323 | z0=z0-5.0f; |
viviien | 21:c826abca79c3 | 324 | if (z0>=-210 && z0<=-130) { |
viviien | 21:c826abca79c3 | 325 | movefunction (); |
viviien | 21:c826abca79c3 | 326 | } |
viviien | 21:c826abca79c3 | 327 | else { |
viviien | 24:61d03692f92e | 328 | z0=z0+5.0f; |
Feike | 18:ab0fe311e7f3 | 329 | } |
viviien | 21:c826abca79c3 | 330 | } |
viviien | 22:9f911405e096 | 331 | } |
viviien | 22:9f911405e096 | 332 | } |