Diff: THE.cpp

Revision:

27:399ca1f28bd8

Parent:

26:0b029c8623fe

Child:

28:1481896462ee

--- a/THE.cpp	Fri Nov 02 09:48:45 2018 +0000
+++ b/THE.cpp	Fri Nov 02 10:00:44 2018 +0000
@@ -177,7 +177,7 @@
 volatile double Trans_prev_error = 0.0;
 
 // States
-enum states {WAIT, MOTOR_CAL, EMG_CAL, START, OPERATING}; // states the robot can be in
+enum states {WAIT, MOTOR_CAL, EMG_CAL, START, OPERATING, DEMO}; // states the robot can be in
 states CurrentState = WAIT; // the CurrentState to start with is the WAIT state
 bool StateChanged = true; // the state must be changed to go into the next state
 
@@ -911,6 +911,14 @@
                         break;
                         }
                     
+                    if(button_demo == false) // condition OPERATING --> DEMO; button_demo press
+                    {
+                        CurrentState = DEMO;
+                        pc.printf("\r\nState is DEMO\r\n");
+                        g = false;
+                        break;
+                        }
+                    
                     wait(delta_t);
                     }
                     
@@ -918,6 +926,27 @@
                 }
             
             break;
+            
+            case DEMO:
+            
+            StateChanged = true;
+            
+            if(StateChanged)
+            {
+                // execute demo mode
+                demo_mode();
+                
+                StateChanged = false;
+                }
+                
+            if(button_wait == false) // condition OPERATING --> WAIT; button_wait press  
+            {
+                CurrentState = WAIT;
+                pc.printf("\r\nState is WAIT\r\n");
+                Statechanged = false;
+                }
+                
+            break;
         
             // no default  
             }