Diff: main.cpp

Revision:

115:d8d2968981f3

Parent:

110:a6439e13be8b

Child:

116:8b812e268b85

diff -r a6439e13be8b -r d8d2968981f3 main.cpp
--- a/main.cpp	Tue Oct 27 14:45:15 2015 +0000
+++ b/main.cpp	Tue Oct 27 16:21:20 2015 +0100
@@ -16,14 +16,24 @@
 
 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;
+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;
 
 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);
+    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
@@ -32,16 +42,20 @@
 bool calReady = false; // flag for calibration ready
 
 int main(){
-    motorInit();    
-    calReady = calibrateMotors(); // start motor calibration
-
-    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);
+    motorInit();
+    calibrateTick.attach(&calibration_activate, motorCall);    
 
     while (true) {
+        if(cal_go){
+            cal_go=false;
+            calReady = calibrateMotors();
+        }
+
+        if(calReady && !tickersActivated){ // when done with calibration, start tickers
+            tickerAttach();
+            tickersActivated = true;
+        }
+
         if(emg_go){
             emg_go=false;
             readEMG();