Revision 6:922f762e7f92, committed 2015-02-19

Comitter:

m172886

Date:

Thu Feb 19 15:46:03 2015 +0000

Parent:

5:47d6ae63a1a3

Child:

7:987db6b7e1b8

Commit message:

Final logic code

Changed in this revision

--- a/main.cpp	Sat Feb 14 02:30:41 2015 +0000
+++ b/main.cpp	Thu Feb 19 15:46:03 2015 +0000
@@ -9,14 +9,14 @@
 
 float height;
 
-float Lower_distance = 7; // lower floor in inches.
+float Lower_distance = 10; // lower floor in inches.
 
-float Upper_distance = 22; // upper floor in inches
+float Upper_distance = 20; // upper floor in inches
 
-float Desired_distance = Upper_distance;  // start low
+float Desired_distance = Lower_distance;  // start low
 float err;
 
-int time_count = 0;
+int time_count;
 int main()
 
 {
@@ -26,8 +26,11 @@
     t.start();  //start timer data timestamp
 
     while(1) {
+        time_count = 0;
         while(time_count<300) {
 
+
+
             height = 193.125176919012*(pow(ain.read(),3))-353.927724612106*(pow(ain.read(),2))+218.749286479109*(ain.read())-23.2532105680997;
 
 
@@ -37,32 +40,32 @@
             pc.printf("%f",t.read());
             pc.printf("\n\r");
 
-            if(height < Desired_distance) {
-                
+            err = Desired_distance-height;
+            if(err>0) {
+
                 m.speed(0.7);
-            } else if(height > Desired_distance) {
-                
+            } else if(err<0) {
+
                 m.speed(-0.7);
-            } else if(height==Desired_distance) {
-                
-                m.speed(0.0);
+
             }
 
-            time_count = time_count+1;
+            time_count=time_count+1;
+
+
+
+
+
         }
-        if (height == Desired_distance)
-        {
+        if(Desired_distance==Lower_distance) {
+            Desired_distance = Upper_distance;
+        }
+        else if(Desired_distance==Upper_distance) {
             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);
-            }
         }
+
+
     }
+
+
 }
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