Diff: main.cpp

Revision:

41:94ef919528df

Parent:

40:01aa02474c8d

--- a/main.cpp	Wed Oct 15 11:53:06 2014 +0000
+++ b/main.cpp	Wed Oct 15 12:30:05 2014 +0000
@@ -37,7 +37,7 @@
 BusOut check(LED1,LED2,LED3,LED4);
 BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20);
 
-PwmOut pwm[4]= {p21,p22,p23,p24};
+PwmOut pwm[4] = {p21,p22,p23,p24};
 
 Serial pc(USBTX,USBRX);
 
@@ -56,19 +56,8 @@
 
 xbee_packet packet = {0};
 
-uint8_t get_data[DATA_NUM]= {0};
-uint8_t check_data[2]= {0};
-
-void safety_mode(){
-           
-           /* 
-            get_data[0] = 0;
-            get_data[1] = 0;
-            
-            packet.arm[0] = 0; 
-            packet.leg = 0;
-            */
-    }
+uint8_t get_data[DATA_NUM] = {0};
+uint8_t check_data[2] = {0};
 
 /*start display LED*/
 void display_LED(int kind)
@@ -85,7 +74,6 @@
             break;
 
         case 1:
-            //
             check = 0xF;
             wait(0.5);
             check = 0;
@@ -103,11 +91,8 @@
     pwm[2] = PWM;
     pwm[3] = PWM;
     
-    /* Timer interrupt init */
-    xbee_check.attach(safety_mode,0.1);
-    
     /* stract data init */
-    xbee_packet *pt_packet=&packet;
+    xbee_packet *pt_packet = &packet;
     
     /* Serial connection init */
     
@@ -127,7 +112,7 @@
         packet.leg = get_data[0]; 
 
         /* Stop */
-        if(packet.leg==0x0) {
+        if(packet.leg == 0x0) {
 
             motors = 0;