Diff: notes.h

Revision:

0:cdd566529530

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/notes.h	Wed May 01 16:00:53 2013 +0000
@@ -0,0 +1,86 @@
+ /*
+    while(motor_x1.ticks < pos){
+        spd = (((float)pos-(float)motor_x1.ticks))/pos;
+        spd*=0.6;
+        if(spd < 0.2) spd = 0.2
+        ;
+        motor_x1.speed(spd);
+        motor_x2.speed(spd);
+        pc.printf("Ticks: %d, speed: %f\n", motor_x1.ticks, spd);
+        wait(0.001);
+        motor_x1.speed(0);
+    }
+    */
+    /*
+    wait(0.5);
+    while(motor_x1.ticks != pos){
+        if(motor_x1.ticks > pos) spd = -0.2;
+        else spd = 0.2;
+        motor_x1.speed(spd);
+        motor_x2.speed(spd);
+        pc.printf("Ticks: %d, speed: %f\n", motor_x1.ticks, spd);
+        wait(0.01);
+        motor_x1.speed(0);
+        motor_x2.speed(0);
+    }
+    */
+    
+//something here
+    
+    /*
+    //set coordinates given for testing (numOfSquares for testing only)
+    numOfSquaresX = 1;
+    numOfSquaresY = 1;
+    
+    //when actually recieveing data, change numOfSquares to srcX
+    sourceX = numOfSquaresX * 210 - clawLocationX;
+    sourceY = numOfSquaresY * 181 - clawLocationY;
+    
+    moveX(sourceX);
+    moveY(sourceY);
+    wait(1);
+    claw = OPEN;
+    wait(1);
+    moveZ(0.49);
+    claw = CLOSE;
+    wait(1);
+    moveZ(0.36);
+    
+    //need to set clawLocation here
+    
+    //set coordinates given for testing (numOfSquares for testing only)
+    numOfSquaresX = 2;
+    numOfSquaresY = 1;
+    
+    //when actually recieveing data, change numOfSquares to destX
+    destinationX = numOfSquaresX * 210 - clawLocationX;
+    destinationY = numOfSquaresY * 181 - clawLocationY;
+    
+    moveX(destinationX);
+    moveY(destinationY);
+    wait(1);
+    moveZ(0.49);
+    wait(1);
+    claw = OPEN;
+    wait(1);
+    moveZ(0.36);
+    */
+    //need to set clawLocation here again
+    
+    /*
+    // test program (opens claw, picks up piece below, and moves to new destination)
+    claw = OPEN;
+    wait(1);
+    moveZ(0.49);
+    claw = CLOSE;
+    wait(1);
+    moveZ(0.36);
+    moveX(210); //210 per one square of X
+    moveY(181); //181 per one square of Y
+    wait(1);
+    moveZ(0.49);
+    wait(1);
+    claw = OPEN;
+    wait(1);
+    moveZ(0.36);
+    */
\ No newline at end of file