changed pins for e_button and added code for turning off PCB
Dependencies: wheelchairControlSummer2019 Watchdog ros_lib_kinetic
Diff: main.cpp
- Revision:
- 13:1d0ed92043af
- Parent:
- 11:c9afd96fa08b
- Child:
- 14:88e5a437a58a
--- a/main.cpp Thu Jun 27 18:11:42 2019 +0000 +++ b/main.cpp Thu Jun 27 18:33:05 2019 +0000 @@ -67,14 +67,16 @@ //testAccT.start(); pc.printf("before starting\r\n"); queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); //Sets up sampling frequency of the compass_thread - queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velosity_thread + queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velocity_thread queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread + queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread); // Sets up sampling frequency of the emergencyButton_thread //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread t.reset(); compass.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the compass thread velocity.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread - queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread); // Sets up sampling frequency of the emergencyButton_thread + emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever)); + //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread pc.printf("After starting\r\n");