Diff: main.cpp

Revision:

18:acc0ff6b308d

Parent:

17:53c6058d2021

--- a/main.cpp	Tue Oct 24 00:06:48 2017 +0000
+++ b/main.cpp	Sat Nov 11 14:45:29 2017 +0000
@@ -10,9 +10,10 @@
 PwmOut myServoX(PB_3); //Servo X
 PwmOut myServoY(PB_4); //Servo Y
 PwmOut myServoZ(PC_7); //Servo Z
-InterruptIn button(USER_BUTTON); // interrupcion boton stop
-volatile bool button1_pressed = false;
-volatile bool button1_enabled = true;
+InterruptIn button1(USER_BUTTON); // interrupcion boton stop
+volatile bool button1_pressed = false; // Used in the main loop
+volatile bool button1_enabled = true; // Used for debouncing
+Timeout button1_timeout;
 
 //*****************************************************************************
 //                          COMANDO  MOVER MOTOR
@@ -368,25 +369,24 @@
 void Stop() //Funcion para detener el programa  
     {
     exit(0);
-        
-  /*  if(ST == 0){
-         home();
-       #if DEBUG
-        command.printf("\n...Parada total...\n", ST);
-        #endif   
-       exit(ST);
-        }  */         
+              
     }    
 
-void Pausa(int p) //Funcion para definir el tiempo de led
+void Pausa(void) //Funcion para definir el tiempo de led
     {   
+    button1_enabled = true;
     #if DEBUG
     command.printf("\n...Pausado...\n");
     #endif               
      }
-    
-void Reanudar(int det) //Funcion para definir el tiempo de led
+
+void Reanudar(void) //Funcion para definir el tiempo de led
     { 
+     if (button1_enabled) { // Disabled while the button is bouncing
+        button1_enabled = false;
+        button1_pressed = true; // To be read by the main loop
+        button1_timeout.attach(callback(Pausa), 0.3); // Debounce time 300 ms
+    }
     #if DEBUG
     command.printf("\nReanudando imagen...%i/n", DET);
     #endif    
@@ -475,14 +475,14 @@
                         #if DEBUG
                         command.printf("    PAUSA\n");
                         #endif
-                        Pausa(buffer_command[INITPARAMETER]);
+                       // Pausa(buffer_command[INITPARAMETER]);
                     break;  
                     
         case (REANUDAR_NC):
                         #if DEBUG
                         command.printf("    REANUDAR\n");
                         #endif
-                        Reanudar(buffer_command[INITPARAMETER]);
+                      //  Reanudar(buffer_command[INITPARAMETER]);
                     break;                             
                     
  /*       case (MOVER_NC):
@@ -511,21 +511,35 @@
     command.printf("inicio sin debug\n");
     #endif
     uint8_t val;
-    button.fall(&Stop);
+    char estado = '0';
+    button1.fall(&Stop);
+    button1.fall(callback(Reanudar));
+    int idx = 0;
     while(1){
+        
+        
         val=command.getc();
-        
-        if (val== '<'){
+        estado = command.getc();
+        switch(estado){
+            case '0':
+                  if (val== '<'){
             Read_command();         
             if (check_command()){
                 command_exe();
                 #if DEBUG
                 echo_command();
                 #endif              
-                if(button1_pressed ==false){                  
-    }
+                
                                 }
-                        }   
+                        } 
+            break;
+            
+            case 'p':
+                button1_pressed = false;
+                printf("Button pressed %d\n", idx++);
+            break;
+            }
+        
            }
 }