Diff: main.cpp

Revision:

116:8b812e268b85

Parent:

115:d8d2968981f3

Child:

117:b1667291748d

diff -r d8d2968981f3 -r 8b812e268b85 main.cpp
--- a/main.cpp	Tue Oct 27 16:21:20 2015 +0100
+++ b/main.cpp	Wed Oct 28 11:48:07 2015 +0100
@@ -14,20 +14,16 @@
 #include "debug.h"
 #include "emg.h"
 
-int a =4;
-
-Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick calibrateTick;
-volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false, cal_go=false;
+Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick;
+volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false;
 
 void switches_activate(){switches_go=true;};
 void debug_activate(){debug_go=true;};
 void motor_activate(){motor_go=true;};
 void emg_activate(){emg_go=true;};
 void safety_activate(){safety_go=true;};
-void calibration_activate(){cal_go=true;};
 
 void tickerAttach(){
-    calibrateTick.detach(&calibration_activate);  // stop calibration ticker
     EMGTick.attach(&emg_activate, 0.005f);
     switchesTick.attach(&switches_activate, 0.02f);
     debugTick.attach(&debug_activate, 0.03f);
@@ -39,17 +35,14 @@
 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();
-    calibrateTick.attach(&calibration_activate, motorCall);    
+    calReady = calibrateMotors();
 
     while (true) {
-        if(cal_go){
-            cal_go=false;
-            calReady = calibrateMotors();
-        }
 
         if(calReady && !tickersActivated){ // when done with calibration, start tickers
             tickerAttach();