![](/media/cache/group/9e3cc099b3b04bca937a1cca1da81b19.jpg.50x50_q85.jpg)
De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 52:fd35025574ca
- Parent:
- 51:7fe2659a1fcb
- Child:
- 53:35282a3e0cad
--- a/main.cpp Thu Oct 31 20:43:28 2019 +0000 +++ b/main.cpp Thu Oct 31 20:47:57 2019 +0000 @@ -1115,6 +1115,7 @@ // Entry function if ( global_state_changed == true ) { global_state_changed = false; + set_led_color('r'); // Set failure mode LED (RED) failure_mode = true; // Set failure mode } @@ -1126,6 +1127,7 @@ if ( false ) { // Never move to other state global_curr_state = global_wait; global_state_changed = true; + set_led_color('o'); // Disable failure mode LED } } @@ -1135,6 +1137,7 @@ // Entry function if ( global_state_changed == true ) { global_state_changed = false; + set_led_color('y'); // Set demo mode LED (YELLOW) if ( motor_cal_done == true ) { demo_curr_state = demo_wait; @@ -1157,6 +1160,7 @@ switch2_pressed = false; global_curr_state = global_wait; global_state_changed = true; + set_led_color('o'); // Disable demo mode LED } } @@ -1166,6 +1170,7 @@ // Entry function if ( global_state_changed == true ) { global_state_changed = false; + set_led_color('w'); // Set wait mode LED (WHITE) } // Do nothing until end condition is met @@ -1175,20 +1180,24 @@ switch2_pressed = false; global_curr_state = global_demo; global_state_changed = true; + set_led_color('o'); // Disable wait mode LED } else if ( button1_pressed == true ) { // EMG CALIBRATION button1_pressed = false; global_curr_state = global_emg_cal; global_state_changed = true; + set_led_color('o'); // Disable wait mode LED } else if ( button2_pressed == true ) { // MOTOR CALIBRATION button2_pressed = false; global_curr_state = global_motor_cal; global_state_changed = true; + set_led_color('o'); // Disable wait mode LED } else if ( emg_cal_done && motor_cal_done ) { // OPERATION MODE global_curr_state = global_operation; global_state_changed = true; + set_led_color('o'); // Disable wait mode LED } } @@ -1259,6 +1268,7 @@ exit_operation = false; global_curr_state = global_wait; global_state_changed = true; + set_led_color('o'); // Disable operation led } } /*