Diff: main.cpp

Revision:

8:fd749c243a8f

Parent:

6:eccd0b81ba62

Child:

9:1579e5cfa499

--- a/main.cpp	Sat Sep 30 04:31:19 2017 +0000
+++ b/main.cpp	Sat Nov 11 00:43:54 2017 +0000
@@ -70,11 +70,12 @@
             addrChecked = false;
         }
         return;
-    }else if(headerRecieved && addrChecked && !estop)
+    }else if(headerRecieved && addrChecked)
     {
         //serial.printf("data %d\n\r",data);
         motor[pointedMotor].setMode(mode[pointedMotor]);
         doubleHeader = false;
+        estop = false;
         if(data == 126){
             motor[pointedMotor].setMotorSpeed(0);
             //serial.printf("STOP");
@@ -96,13 +97,23 @@
     for(int i= 0; i< 4; i++)
         motor[i].setMotorSpeed(0);
     beep = true;
+    wait(1);
+    beep = false;
+    wait(0.5);
+    for(int i = 0; i<=addr;i++)
+    {
+        beep = true;
+        wait(0.1);
+        beep = false;
+        wait(0.1);
+    } // beep addr times
+    
     addrChecked=false,headerRecieved=false;
     //motor[0].setMotorSpeed(0);
     rs485.baud(38400);
     serial.baud(115200);
     addr.mode(PullUp);
     RSControl = 0;
-    wait(addr+0.5);
     rs485.putc((1<<addr));
     rs485.attach(&callback);
     beep = false;