lotus: some debug and fixes

arduino/lotus/lotus.ino

@@ -11,8 +11,8 @@
 #define PIN_POS A0
 
 // Position hautes et basses
-#define POS_HIGH 280
-#define POS_LOW 107
+#define POS_HIGH 275
+#define POS_LOW 105
 #define BOUNCE 3
 
 void setup()
@@ -38,7 +38,7 @@ void move(bool going_up, int target=0, int timeout=0) {
   int val;
   if(target) {
       target = min(max(target, POS_LOW), POS_HIGH);
-      going_up = target < get_position();
+      going_up = get_position() < target;
   }
   Serial.print("Move:");
   Serial.print(going_up?"Up":"Down");
@@ -48,12 +48,10 @@ void move(bool going_up, int target=0, int timeout=0) {
   Serial.println(timeout);
   if(going_up) {
     comp=1;
-    target = POS_HIGH;
     digitalWrite(RF_M_DRV1, HIGH);
     digitalWrite(RF_M_DRV2, LOW);    
   } else {
     comp=-1;
-    target = POS_LOW;
     digitalWrite(RF_M_DRV1, LOW);
     digitalWrite(RF_M_DRV2, HIGH);    
   }
@@ -62,8 +60,15 @@ void move(bool going_up, int target=0, int timeout=0) {
       do {
         delay(1);
         val = get_position();
+
       }
       while(val *comp < target*comp);
+      Serial.print("Endmove:");
+      Serial.print(val);
+      Serial.print(",");
+      Serial.print(comp);
+      Serial.print(",");
+      Serial.println(target);
       report_pos();
   }
   if(timeout)
@@ -99,10 +104,10 @@ void loop() {
         move(true, 0, 500);
         break;
       case 'U':
-        move(false, 1024);
+        move(true, 1024);
         break;
       case 'D':
-        move(true, 0);
+        move(false, 1);
         break;
       case 'm':
         move(false, Serial.parseInt());