Revision 5:47d6ae63a1a3, committed 2015-02-14

Comitter:

m172886

Date:

Sat Feb 14 02:30:41 2015 +0000

Parent:

4:059832a0c7b9

Child:

6:922f762e7f92

Commit message:

hello

Changed in this revision

--- a/main.cpp	Thu Feb 12 16:42:25 2015 +0000
+++ b/main.cpp	Sat Feb 14 02:30:41 2015 +0000
@@ -2,40 +2,67 @@
 #include "time.h"
 #include "Motor.h"
 
-AnalogIn ain(p17);
+AnalogIn ain(p19);
 Serial pc(USBTX, USBRX);
 Timer t;
 Motor m(p25,p27,p28);
-float error = Desired_distance - height;
+
 float height;
 
 float Lower_distance = 7; // lower floor in inches.
 
-float Upper_distance = 26; // upper floor in inches
+float Upper_distance = 22; // upper floor in inches
 
-float Desired_distance = Lower_distance;  // start low
-int main(void) 
+float Desired_distance = Upper_distance;  // start low
+float err;
+
+int time_count = 0;
+int main()
+
 {
-    t.reset();  //reset timer to zero
-    t.start();  //start timer data timestamp
-    m.speed(0.0);
-    while(1)
-    {
-height = 193.125176919012*(pow(ain.read(),3))-353.927724612106*(pow(ain.read(),2))+218.749286479109*(ain.read())-23.2532105680997;
     pc.baud(9600);
     pc.format(7,SerialBase::None,1);
-    pc.printf("%f,",height); 
-    pc.printf("%f,",ain.read()); //this prints the voltage 
-    pc.printf("%f",t.read()); 
-    pc.printf("\n");
-    if (error > 0)
-    {
-        m.speed(0.5);
+    t.reset();  //reset timer to zero
+    t.start();  //start timer data timestamp
+
+    while(1) {
+        while(time_count<300) {
+
+            height = 193.125176919012*(pow(ain.read(),3))-353.927724612106*(pow(ain.read(),2))+218.749286479109*(ain.read())-23.2532105680997;
+
+
+
+            pc.printf("%f,",ain.read()); //this prints the voltage
+            pc.printf("%f,",height);
+            pc.printf("%f",t.read());
+            pc.printf("\n\r");
+
+            if(height < Desired_distance) {
+                
+                m.speed(0.7);
+            } else if(height > Desired_distance) {
+                
+                m.speed(-0.7);
+            } else if(height==Desired_distance) {
+                
+                m.speed(0.0);
+            }
+
+            time_count = time_count+1;
         }
-        else(error<0)
+        if (height == Desired_distance)
         {
-            m.speed(-0.5)
+            Desired_distance = Lower_distance;
+             if(height < Desired_distance) {
+                
+                m.speed(0.7);
+            } else if(height > Desired_distance) {
+                
+                m.speed(-0.7);
+            } else if(height==Desired_distance) {
+                
+                m.speed(0.0);
             }
+        }
     }
-    
-}
+}
\ No newline at end of file