Biorobotics 7 / Mbed 2 deprecated State_Machine

State machine

Dependencies:   mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter

main.cpp@20:af1a6cd7469b, 2018-10-31 (annotated)

Committer:
brass_phoenix
Date:
Wed Oct 31 18:22:39 2018 +0000
Revision:
20:af1a6cd7469b
Parent:
19:53b9729fbab5
Child:
21:d541303a2ea6
+ Added forward kinematics.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MAHCSnijders 0:7d25c2ade6c5 1 #include "mbed.h"
MAHCSnijders 0:7d25c2ade6c5 2
brass_phoenix 20:af1a6cd7469b 3 #include "constants.h"
brass_phoenix 20:af1a6cd7469b 4
brass_phoenix 1:cfa5abca6d43 5 #include "Button.h"
brass_phoenix 3:4b19b6cf6cc7 6 #include "Screen.h"
brass_phoenix 8:9090ab7c19a8 7 #include "motor.h"
brass_phoenix 16:9c5ef6fe6780 8 #include "motor_calibration.h"
brass_phoenix 20:af1a6cd7469b 9 #include "forward_kinematics.h"
MAHCSnijders 0:7d25c2ade6c5 10
brass_phoenix 1:cfa5abca6d43 11
brass_phoenix 1:cfa5abca6d43 12 enum States {waiting, calib_motor, calib_bicep1, calib_bicep2, homing, operation, failure}; // The possible states of the state machine
MAHCSnijders 0:7d25c2ade6c5 13
MAHCSnijders 0:7d25c2ade6c5 14 // Global variables
brass_phoenix 1:cfa5abca6d43 15
brass_phoenix 8:9090ab7c19a8 16
brass_phoenix 12:0c10396d0615 17 Motor main_motor(D6, D7, D13, D12);
brass_phoenix 12:0c10396d0615 18 Motor sec_motor(D5, D4, D10, D11);
brass_phoenix 12:0c10396d0615 19
brass_phoenix 1:cfa5abca6d43 20
brass_phoenix 13:88967c004446 21 AnalogIn potmeter1(A5); // Analoge input van potmeter 1 -> Motor 1
brass_phoenix 13:88967c004446 22 AnalogIn potmeter2(A4); // Analoge input van potmeter 2 -> Motor 2
brass_phoenix 13:88967c004446 23
brass_phoenix 13:88967c004446 24
brass_phoenix 1:cfa5abca6d43 25 States current_state; // Defining the state we are currently in
brass_phoenix 2:141cfcafe72b 26 States last_state; // To detect state changes.
MAHCSnijders 0:7d25c2ade6c5 27 Ticker loop_ticker; // Ticker for the loop function
brass_phoenix 1:cfa5abca6d43 28
brass_phoenix 1:cfa5abca6d43 29 // Order of buttons: up_down, left_right, panic
brass_phoenix 1:cfa5abca6d43 30 // D2, D3, D8
brass_phoenix 7:e7f808875bc4 31 Button ud_button(D2);
brass_phoenix 2:141cfcafe72b 32 Button lr_button(D3);
brass_phoenix 7:e7f808875bc4 33 Button p_button(D8);
brass_phoenix 7:e7f808875bc4 34
brass_phoenix 7:e7f808875bc4 35 Ticker button_ticker;
MAHCSnijders 0:7d25c2ade6c5 36
brass_phoenix 1:cfa5abca6d43 37 DigitalOut led_red(LED_RED);
brass_phoenix 1:cfa5abca6d43 38 DigitalOut led_green(LED_GREEN);
brass_phoenix 9:27d00b64076e 39 DigitalOut led_blue(LED_BLUE);
brass_phoenix 1:cfa5abca6d43 40
brass_phoenix 3:4b19b6cf6cc7 41 // The last arguent is the reset pin.
brass_phoenix 3:4b19b6cf6cc7 42 // The screen doesn't use it, but the library requires it
brass_phoenix 3:4b19b6cf6cc7 43 // So pick a pin we don't use.
brass_phoenix 3:4b19b6cf6cc7 44 Screen screen(D14, D15, D9);
brass_phoenix 2:141cfcafe72b 45
brass_phoenix 12:0c10396d0615 46 // Which direction the emg will control the arm.
brass_phoenix 12:0c10396d0615 47 // Up or down.
brass_phoenix 12:0c10396d0615 48 // Left or right.
brass_phoenix 12:0c10396d0615 49 bool control_goes_up = false;
brass_phoenix 12:0c10396d0615 50 bool control_goes_right = false;
brass_phoenix 12:0c10396d0615 51
brass_phoenix 3:4b19b6cf6cc7 52
brass_phoenix 3:4b19b6cf6cc7 53 void do_state_waiting()
brass_phoenix 3:4b19b6cf6cc7 54 {
brass_phoenix 4:5a44ab7e94b3 55 if(last_state != current_state) {
brass_phoenix 4:5a44ab7e94b3 56 last_state = current_state;
brass_phoenix 4:5a44ab7e94b3 57 // State just changed to this one.
brass_phoenix 4:5a44ab7e94b3 58
brass_phoenix 4:5a44ab7e94b3 59 led_green = 1;
brass_phoenix 6:bfc6e68774f5 60 screen.clear_display();
brass_phoenix 4:5a44ab7e94b3 61 screen.display_state_name("Waiting");
brass_phoenix 6:bfc6e68774f5 62 screen.get_screen_handle()->printf(" Press to start ");
brass_phoenix 6:bfc6e68774f5 63 screen.get_screen_handle()->printf(" | ");
brass_phoenix 6:bfc6e68774f5 64 screen.get_screen_handle()->printf(" V ");
brass_phoenix 6:bfc6e68774f5 65 screen.display();
brass_phoenix 4:5a44ab7e94b3 66 }
brass_phoenix 4:5a44ab7e94b3 67
brass_phoenix 9:27d00b64076e 68 if (ud_button.has_just_been_pressed()) {
brass_phoenix 2:141cfcafe72b 69 current_state = calib_motor;
brass_phoenix 2:141cfcafe72b 70 }
brass_phoenix 20:af1a6cd7469b 71
brass_phoenix 20:af1a6cd7469b 72 // TODO:
brass_phoenix 20:af1a6cd7469b 73 // THIS OPTION IS ONLY HERE FOR DEBUGGING PURPOSES.
brass_phoenix 20:af1a6cd7469b 74 // REMOVE WHEN THE DEMO STATE IS IMPLEMENTED.
brass_phoenix 20:af1a6cd7469b 75 if (lr_button.has_just_been_pressed()) {
brass_phoenix 20:af1a6cd7469b 76 current_state = operation;
brass_phoenix 20:af1a6cd7469b 77 }
brass_phoenix 2:141cfcafe72b 78 }
brass_phoenix 2:141cfcafe72b 79
brass_phoenix 3:4b19b6cf6cc7 80 void do_state_calib_motor()
brass_phoenix 3:4b19b6cf6cc7 81 {
brass_phoenix 16:9c5ef6fe6780 82 static double main_last_angle;
brass_phoenix 16:9c5ef6fe6780 83 static double sec_last_angle;
brass_phoenix 16:9c5ef6fe6780 84 static int main_iterations_not_moving;
brass_phoenix 16:9c5ef6fe6780 85 static int sec_iterations_not_moving;
brass_phoenix 16:9c5ef6fe6780 86 static bool main_is_calibrated;
brass_phoenix 16:9c5ef6fe6780 87 static bool sec_is_calibrated;
brass_phoenix 16:9c5ef6fe6780 88
brass_phoenix 2:141cfcafe72b 89 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 90 last_state = current_state;
brass_phoenix 2:141cfcafe72b 91 // State just changed to this one.
brass_phoenix 3:4b19b6cf6cc7 92
brass_phoenix 2:141cfcafe72b 93 led_green = 0;
brass_phoenix 6:bfc6e68774f5 94 screen.clear_display();
brass_phoenix 5:2632dfc8454c 95 screen.display_state_name("Motor calibration");
brass_phoenix 16:9c5ef6fe6780 96
brass_phoenix 16:9c5ef6fe6780 97 main_last_angle = -10;
brass_phoenix 16:9c5ef6fe6780 98 sec_last_angle = -10;
brass_phoenix 16:9c5ef6fe6780 99 main_iterations_not_moving = 0;
brass_phoenix 16:9c5ef6fe6780 100 sec_iterations_not_moving = 0;
brass_phoenix 16:9c5ef6fe6780 101 main_is_calibrated = false;
brass_phoenix 16:9c5ef6fe6780 102 sec_is_calibrated = false;
brass_phoenix 2:141cfcafe72b 103 }
brass_phoenix 9:27d00b64076e 104
brass_phoenix 16:9c5ef6fe6780 105 if (!main_is_calibrated) {
brass_phoenix 16:9c5ef6fe6780 106 main_is_calibrated = calibrate_motor(main_motor, main_last_angle, main_iterations_not_moving);
brass_phoenix 16:9c5ef6fe6780 107 if (main_is_calibrated) {
brass_phoenix 16:9c5ef6fe6780 108 main_motor.define_current_angle_as_x_radians(0.785398); // 45 degrees.
brass_phoenix 16:9c5ef6fe6780 109 }
brass_phoenix 16:9c5ef6fe6780 110 }
brass_phoenix 16:9c5ef6fe6780 111 if (!sec_is_calibrated) {
brass_phoenix 16:9c5ef6fe6780 112 sec_is_calibrated = calibrate_motor(sec_motor, sec_last_angle, sec_iterations_not_moving);
brass_phoenix 16:9c5ef6fe6780 113 if (sec_is_calibrated) {
brass_phoenix 16:9c5ef6fe6780 114 sec_motor.define_current_angle_as_x_radians(-0.733038); // -42 degrees.
brass_phoenix 16:9c5ef6fe6780 115 }
brass_phoenix 16:9c5ef6fe6780 116 }
brass_phoenix 16:9c5ef6fe6780 117
brass_phoenix 16:9c5ef6fe6780 118 if (main_is_calibrated && sec_is_calibrated) {
brass_phoenix 19:53b9729fbab5 119 current_state = homing;
brass_phoenix 9:27d00b64076e 120 }
brass_phoenix 2:141cfcafe72b 121 }
brass_phoenix 2:141cfcafe72b 122
brass_phoenix 3:4b19b6cf6cc7 123 void do_state_calib_bicep1()
brass_phoenix 3:4b19b6cf6cc7 124 {
brass_phoenix 2:141cfcafe72b 125 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 126 last_state = current_state;
brass_phoenix 2:141cfcafe72b 127 // State just changed to this one.
brass_phoenix 6:bfc6e68774f5 128 screen.clear_display();
brass_phoenix 5:2632dfc8454c 129 screen.display_state_name("EMG 1 calibration");
brass_phoenix 2:141cfcafe72b 130 }
brass_phoenix 9:27d00b64076e 131
brass_phoenix 9:27d00b64076e 132 if (ud_button.has_just_been_pressed()) {
brass_phoenix 9:27d00b64076e 133 current_state = calib_bicep2;
brass_phoenix 9:27d00b64076e 134 }
brass_phoenix 2:141cfcafe72b 135 }
brass_phoenix 2:141cfcafe72b 136
brass_phoenix 3:4b19b6cf6cc7 137 void do_state_calib_bicep2()
brass_phoenix 3:4b19b6cf6cc7 138 {
brass_phoenix 2:141cfcafe72b 139 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 140 last_state = current_state;
brass_phoenix 2:141cfcafe72b 141 // State just changed to this one.
brass_phoenix 6:bfc6e68774f5 142 screen.clear_display();
brass_phoenix 5:2632dfc8454c 143 screen.display_state_name("EMG 2 calibration");
brass_phoenix 2:141cfcafe72b 144 }
brass_phoenix 9:27d00b64076e 145
brass_phoenix 9:27d00b64076e 146 if (ud_button.has_just_been_pressed()) {
brass_phoenix 9:27d00b64076e 147 current_state = homing;
brass_phoenix 9:27d00b64076e 148 }
brass_phoenix 2:141cfcafe72b 149 }
brass_phoenix 2:141cfcafe72b 150
brass_phoenix 3:4b19b6cf6cc7 151 void do_state_homing()
brass_phoenix 3:4b19b6cf6cc7 152 {
brass_phoenix 20:af1a6cd7469b 153 double main_home = PI * 0.5;
brass_phoenix 20:af1a6cd7469b 154 double sec_home = 0;
brass_phoenix 20:af1a6cd7469b 155
brass_phoenix 2:141cfcafe72b 156 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 157 last_state = current_state;
brass_phoenix 2:141cfcafe72b 158 // State just changed to this one.
brass_phoenix 6:bfc6e68774f5 159 screen.clear_display();
brass_phoenix 5:2632dfc8454c 160 screen.display_state_name("Homing");
brass_phoenix 20:af1a6cd7469b 161
brass_phoenix 20:af1a6cd7469b 162 main_motor.set_target_angle(main_home);
brass_phoenix 20:af1a6cd7469b 163 sec_motor.set_target_angle(sec_home);
brass_phoenix 2:141cfcafe72b 164 }
brass_phoenix 9:27d00b64076e 165
brass_phoenix 9:27d00b64076e 166 if (ud_button.has_just_been_pressed()) {
brass_phoenix 19:53b9729fbab5 167 current_state = calib_bicep1;
brass_phoenix 9:27d00b64076e 168 }
brass_phoenix 2:141cfcafe72b 169 }
brass_phoenix 2:141cfcafe72b 170
brass_phoenix 3:4b19b6cf6cc7 171 void do_state_operation()
brass_phoenix 3:4b19b6cf6cc7 172 {
brass_phoenix 2:141cfcafe72b 173 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 174 last_state = current_state;
brass_phoenix 2:141cfcafe72b 175 // State just changed to this one.
brass_phoenix 6:bfc6e68774f5 176 screen.clear_display();
brass_phoenix 5:2632dfc8454c 177 screen.display_state_name("Normal operation");
brass_phoenix 15:f65b4566193e 178
brass_phoenix 15:f65b4566193e 179 control_goes_up = true;
brass_phoenix 15:f65b4566193e 180 control_goes_right = true;
brass_phoenix 15:f65b4566193e 181
brass_phoenix 15:f65b4566193e 182 screen.display_up_down_arrow(control_goes_up);
brass_phoenix 15:f65b4566193e 183 screen.display_left_right_arrow(control_goes_right);
brass_phoenix 2:141cfcafe72b 184 }
brass_phoenix 9:27d00b64076e 185
brass_phoenix 20:af1a6cd7469b 186 // Using potmeters for debugging purposes;
brass_phoenix 20:af1a6cd7469b 187 double main_angle = ((potmeter1.read() * 2) - 1) * PI;
brass_phoenix 20:af1a6cd7469b 188 double sec_angle = ((potmeter2.read() * 2) - 1) * PI;
brass_phoenix 20:af1a6cd7469b 189
brass_phoenix 20:af1a6cd7469b 190 double e_x = 0.0;
brass_phoenix 20:af1a6cd7469b 191 double e_y = 0.0;
brass_phoenix 20:af1a6cd7469b 192
brass_phoenix 20:af1a6cd7469b 193 forward_kinematics(main_angle, sec_angle, e_x, e_y);
brass_phoenix 20:af1a6cd7469b 194
brass_phoenix 20:af1a6cd7469b 195 screen.get_screen_handle()->setTextCursor(0, 0);
brass_phoenix 20:af1a6cd7469b 196 screen.get_screen_handle()->printf("M_a: %.6f\n", main_angle);
brass_phoenix 20:af1a6cd7469b 197 screen.get_screen_handle()->printf("S_a: %.6f\n", sec_angle);
brass_phoenix 20:af1a6cd7469b 198 screen.get_screen_handle()->printf("X: %.6f\n", e_x);
brass_phoenix 20:af1a6cd7469b 199 screen.get_screen_handle()->printf("Y: %.6f", e_y);
brass_phoenix 20:af1a6cd7469b 200 screen.display();
brass_phoenix 20:af1a6cd7469b 201
brass_phoenix 19:53b9729fbab5 202 /*
brass_phoenix 14:b97e7a41ec23 203 double main_target = ((potmeter1.read() * 2) - 1) * PI;
brass_phoenix 13:88967c004446 204 main_motor.set_target_angle(main_target);
brass_phoenix 14:b97e7a41ec23 205 double sec_target = ((potmeter2.read() * 2) - 1) * PI;
brass_phoenix 13:88967c004446 206 sec_motor.set_target_angle(sec_target);
brass_phoenix 13:88967c004446 207
brass_phoenix 9:27d00b64076e 208 if (ud_button.has_just_been_pressed()) {
brass_phoenix 12:0c10396d0615 209 control_goes_up = !control_goes_up;
brass_phoenix 15:f65b4566193e 210 screen.display_up_down_arrow(control_goes_up);
brass_phoenix 12:0c10396d0615 211 }
brass_phoenix 12:0c10396d0615 212 if (lr_button.has_just_been_pressed()) {
brass_phoenix 12:0c10396d0615 213 control_goes_right = !control_goes_right;
brass_phoenix 15:f65b4566193e 214 screen.display_left_right_arrow(control_goes_right);
brass_phoenix 9:27d00b64076e 215 }
brass_phoenix 19:53b9729fbab5 216 */
brass_phoenix 2:141cfcafe72b 217 }
brass_phoenix 2:141cfcafe72b 218
brass_phoenix 3:4b19b6cf6cc7 219 void do_state_failure()
brass_phoenix 3:4b19b6cf6cc7 220 {
brass_phoenix 2:141cfcafe72b 221 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 222 last_state = current_state;
brass_phoenix 2:141cfcafe72b 223 // State just changed.
brass_phoenix 2:141cfcafe72b 224 // Update the display.
brass_phoenix 2:141cfcafe72b 225 led_red = 0;
brass_phoenix 2:141cfcafe72b 226 led_green = 1;
brass_phoenix 6:bfc6e68774f5 227 screen.clear_display();
brass_phoenix 11:d980e0e581db 228 screen.display_state_name("STOP");
brass_phoenix 2:141cfcafe72b 229 }
brass_phoenix 3:4b19b6cf6cc7 230
brass_phoenix 2:141cfcafe72b 231 // Stop the motors!
brass_phoenix 12:0c10396d0615 232 main_motor.stop();
brass_phoenix 12:0c10396d0615 233 sec_motor.stop();
brass_phoenix 2:141cfcafe72b 234 }
brass_phoenix 2:141cfcafe72b 235
brass_phoenix 2:141cfcafe72b 236
brass_phoenix 1:cfa5abca6d43 237 void main_loop()
brass_phoenix 1:cfa5abca6d43 238 {
brass_phoenix 1:cfa5abca6d43 239 ud_button.update();
brass_phoenix 1:cfa5abca6d43 240 lr_button.update();
brass_phoenix 1:cfa5abca6d43 241 p_button.update();
brass_phoenix 3:4b19b6cf6cc7 242
brass_phoenix 1:cfa5abca6d43 243 switch (current_state) {
brass_phoenix 1:cfa5abca6d43 244 case waiting:
brass_phoenix 2:141cfcafe72b 245 do_state_waiting();
brass_phoenix 1:cfa5abca6d43 246 break;
brass_phoenix 1:cfa5abca6d43 247 case calib_motor:
brass_phoenix 2:141cfcafe72b 248 do_state_calib_motor();
brass_phoenix 1:cfa5abca6d43 249 break;
brass_phoenix 1:cfa5abca6d43 250 case calib_bicep1:
brass_phoenix 2:141cfcafe72b 251 do_state_calib_bicep1();
brass_phoenix 1:cfa5abca6d43 252 break;
brass_phoenix 1:cfa5abca6d43 253 case calib_bicep2:
brass_phoenix 2:141cfcafe72b 254 do_state_calib_bicep2();
brass_phoenix 1:cfa5abca6d43 255 break;
brass_phoenix 1:cfa5abca6d43 256 case homing:
brass_phoenix 2:141cfcafe72b 257 do_state_homing();
brass_phoenix 1:cfa5abca6d43 258 break;
brass_phoenix 1:cfa5abca6d43 259 case operation:
brass_phoenix 2:141cfcafe72b 260 do_state_operation();
brass_phoenix 1:cfa5abca6d43 261 break;
brass_phoenix 1:cfa5abca6d43 262 case failure:
brass_phoenix 2:141cfcafe72b 263 do_state_failure();
brass_phoenix 1:cfa5abca6d43 264 break;
brass_phoenix 1:cfa5abca6d43 265 }
brass_phoenix 3:4b19b6cf6cc7 266
brass_phoenix 2:141cfcafe72b 267 // Check if the panic button was pressed.
brass_phoenix 2:141cfcafe72b 268 // Doesn't matter in which state we are, we need to go to failure.
brass_phoenix 2:141cfcafe72b 269 if (p_button.is_pressed()) {
brass_phoenix 2:141cfcafe72b 270 current_state = failure;
brass_phoenix 3:4b19b6cf6cc7 271 }
brass_phoenix 1:cfa5abca6d43 272 }
MAHCSnijders 0:7d25c2ade6c5 273
brass_phoenix 7:e7f808875bc4 274 void poll_buttons() {
brass_phoenix 7:e7f808875bc4 275 // We need to poll the pins periodically.
brass_phoenix 7:e7f808875bc4 276 // Normally one would use rise and fall interrupts, so this wouldn't be
brass_phoenix 7:e7f808875bc4 277 // needed. But the buttons we use generate so much chatter that
brass_phoenix 7:e7f808875bc4 278 // sometimes a rising or a falling edge doesn't get registered.
brass_phoenix 7:e7f808875bc4 279 // With all the confusion that accompanies it.
brass_phoenix 7:e7f808875bc4 280 ud_button.poll_pin();
brass_phoenix 7:e7f808875bc4 281 lr_button.poll_pin();
brass_phoenix 7:e7f808875bc4 282 p_button.poll_pin();
brass_phoenix 7:e7f808875bc4 283 }
brass_phoenix 7:e7f808875bc4 284
brass_phoenix 1:cfa5abca6d43 285 int main()
brass_phoenix 1:cfa5abca6d43 286 {
brass_phoenix 1:cfa5abca6d43 287 led_red = 1;
brass_phoenix 9:27d00b64076e 288 led_green = 1;
brass_phoenix 9:27d00b64076e 289 led_blue = 1;
brass_phoenix 8:9090ab7c19a8 290
brass_phoenix 10:b165ccd11afd 291 screen.clear_display();
brass_phoenix 10:b165ccd11afd 292
brass_phoenix 12:0c10396d0615 293 main_motor.set_pid_k_values(Kp, Ki, Kd);
brass_phoenix 12:0c10396d0615 294 sec_motor.set_pid_k_values(Kp, Ki, Kd);
brass_phoenix 12:0c10396d0615 295
brass_phoenix 12:0c10396d0615 296 // One of the motors is reversed in the electronics.
brass_phoenix 12:0c10396d0615 297 // This is fixed in the motor controll board, so we have to account
brass_phoenix 12:0c10396d0615 298 // for it in software.
brass_phoenix 19:53b9729fbab5 299 main_motor.set_extra_reduction_ratio(-main_gear_ratio);
brass_phoenix 19:53b9729fbab5 300 sec_motor.set_extra_reduction_ratio(sec_gear_ratio);
brass_phoenix 19:53b9729fbab5 301
brass_phoenix 19:53b9729fbab5 302 // Set the maximum pwm fraction for both motors.
brass_phoenix 19:53b9729fbab5 303 main_motor.set_max_pwm_fraction(0.5);
brass_phoenix 19:53b9729fbab5 304 sec_motor.set_max_pwm_fraction(0.5);
brass_phoenix 12:0c10396d0615 305
brass_phoenix 8:9090ab7c19a8 306 // Start the motor controller at the desired frequency.
brass_phoenix 12:0c10396d0615 307 main_motor.start(pid_period);
brass_phoenix 12:0c10396d0615 308 sec_motor.start(pid_period);
brass_phoenix 3:4b19b6cf6cc7 309
brass_phoenix 2:141cfcafe72b 310 // Start in the waiting state.
brass_phoenix 1:cfa5abca6d43 311 current_state = waiting;
brass_phoenix 4:5a44ab7e94b3 312 // Pretend we come from the operation state.
brass_phoenix 4:5a44ab7e94b3 313 // So that the waiting state knows it just got started.
brass_phoenix 4:5a44ab7e94b3 314 last_state = operation;
brass_phoenix 7:e7f808875bc4 315
brass_phoenix 7:e7f808875bc4 316 // Start the button polling ticker.
brass_phoenix 7:e7f808875bc4 317 button_ticker.attach(&poll_buttons, button_poll_interval);
brass_phoenix 3:4b19b6cf6cc7 318
brass_phoenix 1:cfa5abca6d43 319 while (true) {
brass_phoenix 1:cfa5abca6d43 320 main_loop();
brass_phoenix 9:27d00b64076e 321
brass_phoenix 9:27d00b64076e 322 // Button debugging.
brass_phoenix 9:27d00b64076e 323 if (ud_button.has_just_been_pressed() || lr_button.has_just_been_pressed() || p_button.has_just_been_pressed()) {
brass_phoenix 9:27d00b64076e 324 led_blue = 0;
brass_phoenix 9:27d00b64076e 325 } else {
brass_phoenix 9:27d00b64076e 326 led_blue = 1;
brass_phoenix 9:27d00b64076e 327 }
brass_phoenix 9:27d00b64076e 328
brass_phoenix 1:cfa5abca6d43 329 wait(main_loop_wait_time);
brass_phoenix 1:cfa5abca6d43 330 }
brass_phoenix 1:cfa5abca6d43 331 }