Diff: main.cpp

Revision:

7:ec5add330cb3

Parent:

6:f495a77c2c95

Child:

8:5ad8a7892693

--- a/main.cpp	Mon Oct 22 13:51:40 2018 +0000
+++ b/main.cpp	Mon Oct 22 14:24:13 2018 +0000
@@ -26,10 +26,10 @@
 // Extra stuff
 // Like LED lights, buttons etc 
 /*
-DigitalIn button_motorcal(); // button for motor calibration
-DigitalIn button_emergency(); // button for emergency mode
-DigitalIn button_start(); // button for start mode (from demo mode)
-DigitalIn button_demo(); // button for demo mode 
+DigitalIn button_motorcal(SW1); // button for motor calibration
+DigitalIn button_emergency(D7); // button for emergency mode
+DigitalIn button_wait(SW2); // button for wait mode 
+DigitalIn button_demo(D6); // button for demo mode 
 */
 DigitalIn led_red(LED_RED); // red led 
 DigitalIn led_green(LED_GREEN); // green led
@@ -56,8 +56,8 @@
 float time_in_state;
 
 // states
-enum states (WAIT, MOTOR_CAL, EMG_CAL, START, OPERATING, FAILURE, DEMO) // states the robot can be in
-states CurrentState = WAIT; // the current state to start with is the WAIT state
+enum states (WAIT, MOTOR_CAL, EMG_CAL, START, OPERATING, FAILURE, 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
 
 // Functions
@@ -160,11 +160,17 @@
                 StateChanged = false; // the state is still WAIT
                 }
                 
-            if() // condition for WAIT --> MOTOR_CAl; button press
+            if(button_motorcal == true) // condition for WAIT --> MOTOR_CAl; button_motorcal press
             {
                 CurrentState = MOTOR_CAL;
                 StateChanged = true;
                 }
+                
+            if (button_emergency == true) // condition for WAIT --> FAILURE; button_emergency press 
+            {
+                CurrentState = FAILURE;
+                StateChanged = true;
+                }
             
             break;
             
@@ -186,6 +192,12 @@
                 StateChanged = true;
                 }
                 
+            if (button_emergency == true) // condition for MOTOR_CAL --> FAILURE; button_emergency press 
+            {
+                CurrentState = FAILURE;
+                StateChanged = true;
+                }
+                
             break;
             
             case EMG_CAL:
@@ -207,6 +219,12 @@
                 StateChanged = true;
                 }
                 
+            if (button_emergency == true) // condition for EMG_CAL --> FAILURE; button_emergency press 
+            {
+                CurrentState = FAILURE;
+                StateChanged = true;
+                }
+                
             break;
             
             case START:
@@ -228,6 +246,12 @@
                 StateChanged = true;
                 }
                 
+            if (button_emergency == true) // condition for START --> FAILURE; button_emergency press 
+            {
+                CurrentState = FAILURE;
+                StateChanged = true;
+                }
+                
             break;
             
             case OPERATING:
@@ -239,13 +263,13 @@
                 StateChanged = false; // state is still OPERATING
                 }
             
-            if() // condition for OPERATING --> FAILURE; button press
+            if(button_emergency == true) // condition for OPERATING --> FAILURE; button_emergency press
             {
                 CurrentState = FAILURE;
                 StateChanged = true;
                 }
                 
-            if() // condition for OPERATING --> DEMO; button press
+            if(button_demo == true) // condition for OPERATING --> DEMO; button_demo press
             {
                 CurrentState = DEMO;
                 StateChanged = true;
@@ -262,7 +286,7 @@
                 StateChanged = false; // state is still FAILURE
                 }
             
-            if() // condition for FAILURE --> WAIT; button press 
+            if(button_wait == true) // condition for FAILURE --> WAIT; button_wait press (IF THAT IS EVEN POSSIBLE IN THIS STATE?) 
             {
                 CurrentState = WAIT;
                 StateChanged = true;
@@ -279,13 +303,13 @@
                 StateChanged = false; // state is still DEMO
                 }
             
-            if() // condition for DEMO --> WAIT; button press 
+            if(button_wait == true) // condition for DEMO --> WAIT; button_wait press 
             {
                 CurrentState = WAIT;
                 StateChanged = true;
                 }
                 
-            if () // condition for DEMO --> FAILURE; button press 
+            if (button_emergency == true) // condition for DEMO --> FAILURE; button_emergency press 
             {
                 CurrentState = FAILURE;
                 StateChanged = true;