Diff: main.cpp

Revision:

9:27d00b64076e

Parent:

8:9090ab7c19a8

Child:

10:b165ccd11afd

--- a/main.cpp	Wed Oct 31 06:13:38 2018 +0000
+++ b/main.cpp	Wed Oct 31 08:17:35 2018 +0000
@@ -40,6 +40,7 @@
 
 DigitalOut led_red(LED_RED);
 DigitalOut led_green(LED_GREEN);
+DigitalOut led_blue(LED_BLUE);
 
 // The last arguent is the reset pin.
 // The screen doesn't use it, but the library requires it
@@ -62,7 +63,7 @@
         screen.display();
     }
     
-    if (ud_button.is_pressed()) {
+    if (ud_button.has_just_been_pressed()) {
         current_state = calib_motor;
     }
 }
@@ -77,6 +78,10 @@
         screen.clear_display();
         screen.display_state_name("Motor calibration");
     }
+    
+    if (ud_button.has_just_been_pressed()) {
+        current_state = calib_bicep1;
+    }
 }
 
 void do_state_calib_bicep1()
@@ -87,6 +92,10 @@
         screen.clear_display();
         screen.display_state_name("EMG 1 calibration");
     }
+    
+    if (ud_button.has_just_been_pressed()) {
+        current_state = calib_bicep2;
+    }
 }
 
 void do_state_calib_bicep2()
@@ -97,6 +106,10 @@
         screen.clear_display();
         screen.display_state_name("EMG 2 calibration");
     }
+    
+    if (ud_button.has_just_been_pressed()) {
+        current_state = homing;
+    }
 }
 
 void do_state_homing()
@@ -107,6 +120,10 @@
         screen.clear_display();
         screen.display_state_name("Homing");
     }
+    
+    if (ud_button.has_just_been_pressed()) {
+        current_state = operation;
+    }
 }
 
 void do_state_operation()
@@ -117,6 +134,10 @@
         screen.clear_display();
         screen.display_state_name("Normal operation");
     }
+    
+    if (ud_button.has_just_been_pressed()) {
+        current_state = homing;
+    }
 }
 
 void do_state_failure()
@@ -188,6 +209,8 @@
 int main()
 {
     led_red = 1;
+    led_green = 1;
+    led_blue = 1;
     
     motor1.set_pid_k_values(Kp, Ki, Kd);
     motor2.set_pid_k_values(Kp, Ki, Kd);
@@ -206,6 +229,14 @@
 
     while (true) {
         main_loop();
+        
+        // Button debugging.
+        if (ud_button.has_just_been_pressed() || lr_button.has_just_been_pressed() || p_button.has_just_been_pressed()) {
+            led_blue = 0;
+        } else {
+            led_blue = 1;
+        }
+        
         wait(main_loop_wait_time);
     }
 }
\ No newline at end of file