![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: main.cpp
- Revision:
- 30:a20f16bf8dda
- Parent:
- 29:e4f3455aaa0b
- Child:
- 31:8fbee6c92753
--- a/main.cpp Tue Oct 06 17:55:11 2015 +0000 +++ b/main.cpp Tue Oct 06 21:06:20 2015 +0000 @@ -9,20 +9,33 @@ #include "debug.h" -Ticker debugsend; +Ticker switches, debug, motor; +volatile bool switches_go=false, debug_go=false, motor_go=false; +void switches_activate(){switches_go=true;}; +void debug_activate(){debug_go=true;}; +void motor_activate(){motor_go=true;}; int main(){ motorInit(); -//debugsend.attach(&debugProcess, 0.2); - +switches.attach(&switches_activate, 0.19f); +debug.attach(&debug_activate, 0.21f); +motor.attach(&motor_activate, 0.2f); while (true) { - checkSwitches(); // readEMG(); - motorControl(); // servoControl(); - debugProcess(); - wait(0.2f); + if(switches_go){ + switches_go=false; + checkSwitches(); + } + if(debug_go){ + debug_go=false; + debugProcess(); + } + if(motor_go){ + motor_go=false; + motorControl(); + } } } \ No newline at end of file