Diff: Steering.cpp

Revision:

14:3e21d6c764a5

Parent:

12:e99a0f23e91a

Child:

15:da14227cdd1d

Child:

27:3a6d5243e5e7

--- a/Steering.cpp	Sat Oct 18 17:05:45 2014 +0000
+++ b/Steering.cpp	Sat Oct 18 17:17:02 2014 +0000
@@ -209,32 +209,39 @@
 
 void request_status_change()
 {
-    //drive_status != drive_status;   
-    //wait(0.1);
+    
+    char drive_status_request = !drive_status;
+    char * status_string;
     
-    //char status_string = (drive_status == 1 ? "ON" : "OFF");
+    if(drive_status_request){
+        status_string = "ON";
+    }
+    else{
+        status_string = "OFF";
+    }
+    
+    for(int i = 0; i < 10; i++){
+        CAN_Steering.write(Txmsg_drive_status_request);
+    }
 
     display.ClearScreen();
     display.SelectFont(Arial12,BLACK,ReadData);
     display.GotoXY(26,16);
-    display.PrintString("REQUEST SENT TO CHANGE DRIVE STATUS TO ");
-    printf("DRIVE STATUS CHANGE Initiated\n\r");
+    display.PrintString("REQUEST SENT TO CHANGE DRIVE STATUS TO: ");
+    display.PrintString(status_string);
+    display.PrintString(".\n");
     
-    
-    
+    printf("DRIVE STATUS CHANGE Initiated\n\r");
     return;
 }
 
 void reset()
 {
-    txWriteDirect(Txmsg_reset);
-    mbed_reset();
-    
-//    display.ClearScreen();
-//    display.SelectFont(Arial12,BLACK,ReadData);
-//    display.GotoXY(16,16);
-//    display.PrintString(" RESET INITIATED");
-//    printf("Reset Initiated\n\r");
+    display.ClearScreen();
+    display.SelectFont(Arial12,BLACK,ReadData);
+    display.GotoXY(16,16);
+    display.PrintString(" RESET INITIATED");
+    printf("Reset Initiated\n\r");
     
     return;
 }    
@@ -263,6 +270,7 @@
     pc.baud(230400);
     CAN_Steering.frequency(500000);
     drive_status = 0;
+    drive_status_request = 1;
     reset_body = 0;
     ledstream.write(0);
     call_ledstream.attach(&Powerstream,0.1);