Diff: main.cpp

Revision:

6:6ca8a0ef7d4a

Parent:

5:e958d61e0564

--- a/main.cpp	Wed Dec 19 19:39:25 2018 +0000
+++ b/main.cpp	Fri Jan 18 00:05:40 2019 +0000
@@ -3,12 +3,16 @@
 #include "string"
 #include "hcsr04.h"
 #include "millis.h"
+//#include "SDFileSystem.h"
+
 Serial pc(USBTX, USBRX);
-HCSR04 heightsensor(PTA2,PTC2); //(trig,echo)
-HCSR04 pathsensor(PTD3,PTD2);
+HCSR04 pathsensor(PTC2,PTA2); //(trig,echo)
+HCSR04 heightsensor(PTD2,PTD3);
 DigitalOut in1(PTC12);
 DigitalOut in2(D7);
-DigitalIn homeSwitch(D9);
+
+//DigitalIn homeSwitch(D9);
+DigitalIn magnetSwitch(D10);
 Stepper mot(D3,D4);  //(D3 to PUL+, D4 to DIR+)
 DigitalOut en(D2); 
 
@@ -20,13 +24,13 @@
 {
     unsigned int dist;
     int er = 5;
-    int fp = 457; //adjust if needed
+    int fp = 447; //adjust if needed
     int lp = 64;  //adjust if needed
     int tp = 25;  
     wait(1);
     in1=1;
     in2=0;
-    wait_ms(600);
+    wait_ms(850);
     in1=1;
     in2=1;
     wait(1);
@@ -130,8 +134,8 @@
 {
     
     unsigned int path_dist;
-    int err = 11;
-    int sens_pos = 126; //adjust if needed //535 0 plates
+    int err = 12;
+    int sens_pos = 131; //adjust if needed //535 0 plates
     int sheet_th = 25; 
     pathsensor.start();
     wait_ms(500);
@@ -210,11 +214,11 @@
 
 void platedetect()
 { 
-    if(homeSwitch==0 && path_sheets==0) 
+    if(magnetSwitch==0 && path_sheets==0) 
     {
     pc.printf("\nAll plates are in the start position");
     }
-    else if (homeSwitch==1 && path_sheets==0)
+    else if (magnetSwitch==1 && path_sheets==0)
     {
     pc.printf("\nError-Plates are not fully extended");    
     }
@@ -241,7 +245,7 @@
     long Duration = 0;
     long StartTime = millis();
     
-    while(homeSwitch == 1 && Duration <= 48000 )
+    while(magnetSwitch == 1 && Duration <= 48000 )
     {
     in1=0;
     in2=1;
@@ -257,14 +261,14 @@
 { 
     in1=1;
     in2=0;
-    wait(48);
+    wait(56);
     in1=1;
     in2=1;
 }
 
 void internalpullups()
 {
-    homeSwitch.mode(PullUp);
+    magnetSwitch.mode(PullUp);
     wait (.01);
 }
 
@@ -274,7 +278,7 @@
     {
         pc.printf("\nERROR: Invalid Range |");
     } 
-    else if(homeSwitch == 1)
+    else if(magnetSwitch == 1)
     {
         pc.printf("\nERROR: Not at Home Position |");
     }
@@ -286,7 +290,7 @@
 }
 void select_error_check()
 {
-    if (homeSwitch == 1) 
+    if (magnetSwitch == 1) 
     {
         pc.printf("\nERROR: Not at Home Position |");
     } 
@@ -297,7 +301,7 @@
 }
 void retract_error_check()
 {
-    if (homeSwitch == 0)
+    if (magnetSwitch == 0)
     {
         pc.printf("\nERROR: Already at Home Position |");   
     }