Robot Bachelor / Mbed 2 deprecated MC

Engine control program with 3 engines Needs to make a case for each simultaneous engine setting, because of the WAIT after each number of bits have been sent.

Dependencies:   mbed-rtos mbed PinDetect

Fork of FinalMotorControl by Robot Bachelor

Diff: main.cpp

Revision:
28:dac262b7ab32
Parent:
27:35c962e8e95b
Child:
29:00f839aad30e
--- a/main.cpp	Wed Jun 01 17:40:54 2016 +0000
+++ b/main.cpp	Thu Jun 02 07:53:41 2016 +0000
@@ -33,6 +33,9 @@
 DigitalOut IN11(D5);
 DigitalOut IN12(D6);
 
+//User button
+DigitalIn  SW(USER_BUTTON);
+
 
 static int speed = 1750;
 static int bootStep1 = 100;
@@ -630,7 +633,7 @@
         // Move motor in one direction
         while (true)
         {
-            speed = 2000;
+
 
             while(bootStep1 >= 0)
             {
@@ -689,13 +692,26 @@
             if (e3 == false) 
             {
                 //pc.printf("HALLO");
+                m_cmd = "z";
                 Thread::wait(1000);
                 break;
             }//end if
         }
 
+        //normal runtime
         while (true) 
         {   
+        
+            //user button to turn off engines
+            if(SW==1)
+            {
+                //put engines to sleep
+                m_cmd ="z";
+                
+                
+            }
+            //set the speed. Higher = slower
+            speed = 2000;
             //speed = 1500;
 
             switch (m_cmd)
@@ -782,6 +798,8 @@
             if (cmd == 'x')
             {
                 hold();
+                Thread::wait(1000);
+                m_cmd = 'z';
 
             }
             
@@ -879,7 +897,7 @@
                     steps3--;
                 }
                 
-                m_cmd = 'x';    
+                //m_cmd = 'x';    
                 
             }