Diff: THE.cpp

Revision:

23:cc8b95d7eb57

Parent:

22:be961d1830bb

Child:

24:ebcb41126f21

--- a/THE.cpp	Fri Nov 02 08:11:09 2018 +0000
+++ b/THE.cpp	Fri Nov 02 08:34:45 2018 +0000
@@ -50,9 +50,6 @@
 // Define here all variables needed throughout the whole code 
 volatile double time_overall;
 volatile double time_in_state;
-volatile double motor_velocity = 0;
-volatile double EMG = 0;
-volatile double errors = 0;
 volatile int counts1_prev = 0;
 volatile int counts2_prev = 0;
 volatile int counts1;
@@ -181,7 +178,7 @@
 volatile double Trans_error = 0.0;
 volatile double Trans_prev_error = 0.0;
 
-// states
+// States
 enum states {WAIT, MOTOR_CAL, EMG_CAL, START, OPERATING}; // 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
@@ -303,16 +300,6 @@
     filtering();
     MovAg();
     }
-    
-// WAIT
-// To do nothing
-void wait_mode()
-{
-    // go back to the initial values
-    // Copy here the variables list with initial values
-    // all pwm's to zero
-    // all counts to zero
-    }
 
 // MOTOR_CAL
 // To calibrate the motor angle to some mechanical boundaries
@@ -425,6 +412,20 @@
     pc.printf("Motor calibration done");
     }
 
+// WAIT
+// To do nothing
+void wait_mode()
+{
+    // Go back to the initial values
+     
+    // All pwm's to zero
+    translation_stop();
+    rotation_stop();
+    // All counts to zero
+    counts1 = 0;
+    counts2 = 0;
+    }
+
 // EMG_CAL
 // To calibrate the EMG signal to some boundary values
 // Void to switch between signals to calibrate