Diff: main.cpp

Revision:

111:43c0881fe7e7

Parent:

110:a6439e13be8b

Child:

117:b1667291748d

diff -r a6439e13be8b -r 43c0881fe7e7 main.cpp
--- a/main.cpp	Tue Oct 27 14:45:15 2015 +0000
+++ b/main.cpp	Tue Oct 27 17:10:33 2015 +0000
@@ -14,8 +14,6 @@
 #include "debug.h"
 #include "emg.h"
 
-int a =4;
-
 Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick;
 volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false;
 
@@ -25,23 +23,32 @@
 void emg_activate(){emg_go=true;};
 void safety_activate(){safety_go=true;};
 
-double motorCall = 0.01; // set motor frequency global so it can be used for speed.
-const int sample = 0;  // Constant for mode switching for program readability
-const int normalize = 1; // Constant for mode switching for program readability
-bool mode = normalize; // Set program mode
-bool calReady = false; // flag for calibration ready
-
-int main(){
-    motorInit();    
-    calReady = calibrateMotors(); // start motor calibration
-
+void tickerAttach(){
     EMGTick.attach(&emg_activate, 0.005f);
     switchesTick.attach(&switches_activate, 0.02f);
     debugTick.attach(&debug_activate, 0.03f);
     motorTick.attach(&motor_activate, motorCall);
     safetyTick.attach(&safety_activate, 0.001f);
+}
+
+double motorCall = 0.01; // set motor frequency global so it can be used for speed.
+const int sample = 0;  // Constant for mode switching for program readability
+const int normalize = 1; // Constant for mode switching for program readability
+bool mode = normalize; // Set program mode
+bool tickersActivated = false;
+bool calReady = false; // flag for calibration ready
+
+int main(){
+    motorInit();
+    calReady = calibrateMotors();
 
     while (true) {
+
+        if(calReady && !tickersActivated){ // when done with calibration, start tickers
+            tickerAttach();
+            tickersActivated = true;
+        }
+
         if(emg_go){
             emg_go=false;
             readEMG();