Robocon 2021 / ros_button_2021

pin1,2,3,servo

Dependencies:   Servo Test2Boards LSCServo ros_lib_melodic DC_Stepper_Controller_Lib

Diff: main.cpp

Revision:
1:ac39b48026ca
Parent:
0:858c61a9c2de
Child:
2:399bcafe6f36
--- a/main.cpp	Fri Mar 05 05:04:38 2021 +0000
+++ b/main.cpp	Sat Mar 13 05:26:36 2021 +0000
@@ -36,12 +36,16 @@
         pin_B = 0;
 }
 
+
 void messagecir(const Bool& _msg){
     bool check = _msg.data;
-    if(check)
+    if(check && servo == 0) {
         servo = 1.0;
-    else
-        servo = 0;
+    }
+    else if(check && servo == 1)
+    {
+        servo = 0; 
+    }
 }
 
 void messagetri(const Bool& _msg){
@@ -56,7 +60,7 @@
 Subscriber<Bool> subcro("button_cross", &messagecro);
 Subscriber<Bool> subcir("button_circle", &messagecir);
 Subscriber<Bool> subtri("button_triangle", &messagetri);
-
+Subscriber<Bool> subkeypad("button_keypad", &messagekeypad);
 
 int main() {
     myled = 0;