![](/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:
- 86:a5f48ae7096e
- Parent:
- 81:71e7e98deb2c
- Child:
- 88:dd198c58f053
--- a/main.cpp Tue Oct 20 15:28:11 2015 +0200 +++ b/main.cpp Tue Oct 20 15:43:54 2015 +0200 @@ -14,6 +14,7 @@ #include "debug.h" #include "emg.h" +bool start=false; Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick; volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false; @@ -25,8 +26,13 @@ double motorCall = 0.01; // set motor frequency global so it can be used for speed. int main(){ +DigitalIn startButton(startPin); + if(startButton.read()==0){ + start=true; + } + +if(start){ motorInit(); -calibrateMotors(); // start calibration procedure switchesTick.attach(&switches_activate, 0.02f); debugTick.attach(&debug_activate, 0.03f); @@ -58,4 +64,5 @@ // servoControl(); } } +} } \ No newline at end of file