Diff: main.cpp

Revision:

15:e9439eac1342

Parent:

14:f114e57c3795

Child:

16:f9f2a0365224

--- a/main.cpp	Mon Oct 31 13:55:32 2016 +0000
+++ b/main.cpp	Tue Nov 01 08:56:40 2016 +0000
@@ -257,7 +257,7 @@
     scope.set(5,outBeen);
     */
     // To indicate that the function is working, the LED is on
-    if (outRechts >= 0.04){
+    if (outRechts >= 0.03){
         BicepsRight = true;
         red = 0;
         }
@@ -267,7 +267,7 @@
     }
 
     // If Biceps links is actuated then:
-    if (outLinks >= 0.04){
+    if (outLinks >= 0.03){
         BicepsLeft = true;
         blue = 0;
         }
@@ -276,7 +276,7 @@
         blue = 1;
     }
      // If upper leg is actuated then:
-    if (outBeen >= 0.01){
+    if (outBeen >= 0.02){
         Leg = true;
         green = 0;
         }
@@ -606,8 +606,8 @@
 
 void PotControl()
 {
-    double Motor1_Value = (pot1.read() - 0.5f)/2.0f;
-    double Motor2_Value = (pot2.read() - 0.5f)/2.0f;
+    double Motor1_Value = (pot1.read() - 0.5f);
+    double Motor2_Value = (pot2.read() - 0.5f);
     //pc.printf("\r\n Motor value 1: %f \r\n",Motor1_Value);
     //pc.printf("\r\n Motor value 2: %f \r\n",Motor2_Value);
     double m1_Position = m1_GetPosition();
@@ -633,17 +633,20 @@
 void Button1Switch()
 {
     button1_value = not button1_value;
+    pc.printf("\r\n Button1_value = %d \r\n", button1_value);
 }
 
 void Button2Switch()
 {
     button2_value = not button2_value;
+    pc.printf("\r\n Button2_value = %d \r\n", button2_value);
 }
 
 void PANIC()
 {
     CalculationsTicker.detach();
     PIDControlTicker.detach();
+    Stepper_Off();
     SetMotor(1,0.0);
     SetMotor(2,0.0);
     pc.printf("\r\n PANIC BUTTON PRESSED \r\n");
@@ -689,13 +692,22 @@
     pc.printf("\r\n Press Button 1 to start positioning the arms using PotControl\r\n");
     pc.printf("\r\n Make sure both potentiometers are positioned halfway! \r\n");
     pc.printf("\r\n ***************** \r\n");
-    while (button1_value == false){}
+    pc.printf("\r\n Button1_value = %d \r\n", button1_value);
+    while (button1_value == false)
+    {   
+        pc.printf("\r\n Button1_value = %d \r\n", button1_value);
+        wait(5);
+    }
     PotControlTicker.attach(&PotControl,CONTROLLER_TS);
     
     pc.printf("\r\n ***************** \r\n");
     pc.printf("\r\n When done positioning, press Button 1 to detach Potcontrol");
     pc.printf("\r\n ***************** \r\n");
-    while (button1_value == true){}
+    while (button1_value == true)
+    {   
+        pc.printf("\r\n Button1_value = %d \r\n", button1_value);
+        wait(5);
+    }
     
     // Detach potcontrol
     PotControlTicker.detach();
@@ -713,7 +725,11 @@
     pc.printf("\r\n When done positioning, press button SW3 to start potmeter PID control");
     pc.printf("\r\n Make sure both potentiometers are positioned halfway!!! \r\n");
     pc.printf("\r\n ***************** \r\n");
-    while (button1_value == false){}
+    while (button1_value == false)
+    {   
+        pc.printf("\r\n Button1_value = %d \r\n", button1_value);
+        wait(5);
+    }
     
     // Attach sample, calc and control tickers
     CalculationsTicker.attach(&CalculationsForTheta,CALC_TS);