control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: actuators.cpp
- Revision:
- 79:cf500b63f349
- Parent:
- 76:0aa90e728e4a
- Child:
- 81:71e7e98deb2c
diff -r 0cc7c64ba94c -r cf500b63f349 actuators.cpp --- a/actuators.cpp Tue Oct 20 12:58:13 2015 +0200 +++ b/actuators.cpp Tue Oct 20 13:21:29 2015 +0200 @@ -48,7 +48,7 @@ // Create object instances // Safety Pin - InterruptIn safetyInt(safetyPin); + DigitalIn safetyIn(safetyPin); // Initialze motors PwmOut motor1(motor1PWMPin); @@ -71,9 +71,6 @@ void motorInit(){ - // connect safety to interrupt - safetyInt.rise(&safety); - motor1Dir.write(direction1); motor2Dir.write(direction2); @@ -195,6 +192,8 @@ void safety(){ if (safetyOn){ - motorsEnable = false; + if (safetyIn.read() != 0){ + motorsEnable = false; + } } -} \ No newline at end of file +}