Diff: THE.cpp

Revision:

26:0b029c8623fe

Parent:

25:408c2242bdfa

Child:

27:399ca1f28bd8

--- a/THE.cpp	Fri Nov 02 09:11:15 2018 +0000
+++ b/THE.cpp	Fri Nov 02 09:48:45 2018 +0000
@@ -26,9 +26,9 @@
 DigitalIn button_wait(SW3); // button for wait mode, on mbed 
 DigitalIn button_demo(D9); // button for demo mode, on bioshield  
 
-DigitalIn led_red(LED_RED); // red led 
-DigitalIn led_green(LED_GREEN); // green led
-DigitalIn led_blue(LED_BLUE); // blue led
+DigitalOut led_red(LED_RED); // red led 
+DigitalOut led_green(LED_GREEN); // green led
+DigitalOut led_blue(LED_BLUE); // blue led
 
 Servo myservo(D3); // Define the servo to control (in penholder), up to start with
 
@@ -405,6 +405,9 @@
 void wait_mode()
 {
     // Go back to the initial values
+    led_red = 1;
+    led_blue = 1;
+    led_green = 1;
      
     // All pwm's to zero
     translation_stop();
@@ -426,30 +429,30 @@
     //If g = 0, led is blue
     if (g == 0) 
     { 
-        led_blue==0;
-        led_red==1;
-        led_green==1;
+        led_blue=0;
+        led_red=1;
+        led_green=1;
         } 
     //If g = 1, led is red
     else if(g == 1) 
     { 
-        led_blue==1;
-        led_red==0;
-        led_green==1;
+        led_blue=1;
+        led_red=0;
+        led_green=1;
         } 
     //If g = 2, led is green
     else if(g == 2) 
     { 
-        led_blue==1;
-        led_red==1;
-        led_green==0;
+        led_blue=1;
+        led_red=1;
+        led_green=0;
         } 
     //If g > 3, led is white
     else 
     { 
-        led_blue==0;
-        led_red==0;
-        led_green==0;
+        led_blue=0;
+        led_red=0;
+        led_green=0;
         emg_calib = 0;
         g = 0;
         }
@@ -520,9 +523,9 @@
 {
     for(int m = 1; m <= 4; m++)
     {
-        led_blue == 0;
-        led_red == 1;
-        led_green == 1;      
+        led_blue = 0;
+        led_red = 1;
+        led_green = 1;      
         
         pc.printf("g is %i\n\r",g);
         pc.printf("Average0 = %f , Average1 = %f, Average2 = %f \n\r",Average0, Average1, Average2);
@@ -551,11 +554,11 @@
             wait(0.2f); // Wait to avoid bouncing of button
             }   
         }
-        
+                
         // Turning all leds off 
-        led_red == 1;
-        led_blue == 1;
-        led_green == 1;
+        led_red = 1;
+        led_blue = 1;
+        led_green = 1;
     }
 
 // START
@@ -598,7 +601,9 @@
                 out1 = out1;
                 out2 = out2;
                 directionchanged = false;
-                led_red == 0;
+                led_red = 0;
+                led_blue = 1;
+                led_green = 1;
                 
                 
             if (Average2 > Threshold2)
@@ -615,7 +620,9 @@
                 out1 = out1 * -1.0;
                 out2 = out2;
                 directionchanged = false;
-                led_blue == 0;
+                led_blue = 0;
+                led_red = 1;
+                led_green = 1;
                             
             if (Average2 > Threshold2)
             {
@@ -631,7 +638,9 @@
                 out1 = out1;
                 out2 = out2 * -1.0;
                 directionchanged = false;
-                led_green == 0;
+                led_green = 0;
+                led_red = 1;
+                led_blue = 1;
             
             if (Average2 > Threshold2)
             {
@@ -646,9 +655,9 @@
                 out1 = out1 * -1.0;
                 out2 = out2 * -1.0;
                 directionchanged = false;
-                led_red == 0;
-                led_blue == 0;
-                led_green == 0;
+                led_red = 0;
+                led_blue = 0;
+                led_green = 0;
                 
             
             if (Average2 > Threshold2)
@@ -762,7 +771,9 @@
 {
     if (button_emergency == false) // condition for MOTOR_CAL --> FAILURE; button_emergency press 
     {    
-        led_red == 0; // turning red led on to show emergency mode 
+        led_red =0; // turning red led on to show emergency mode 
+        led_blue = 1;
+        led_green = 1;
 
         // all pwmpins zero 
         pwmpin_1 = 0.0;