TRR 2018 / Mbed 2 deprecated biniou-TRR2019-chassis2

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Dependencies:   mbed MPU6050

Diff: sm_esc.cpp

Revision:
9:1b54bac6d9a7
Parent:
8:f23601373e8b
Child:
12:58ad06f9847d
--- a/sm_esc.cpp	Wed Oct 02 22:25:12 2019 +0000
+++ b/sm_esc.cpp	Thu Oct 03 23:28:56 2019 +0000
@@ -4,7 +4,6 @@
 PwmOut pwm_ESC(PD_12);
 DigitalOut relay_ESC(PG_0);
 E_STATE_ESC e_ESC_state;
-Timer t_emergency_brake;
 
 void init_sm_esc()
 {
@@ -43,7 +42,7 @@
     switch(e_ESC_state) {
         case ESC_DISABLED:
             if(b_UTILS_flag_emergency_stop) {
-                rs_UTILS_pc.printf("EMERGENCY STOP\r\n");
+                rs_LOG_pc.printf("EMERGENCY STOP\r\n");
                 b_UTILS_flag_emergency_stop = false;
                 if(b_CHASSIS_with_pushbutton) {
                     relay_ESC = 1;
@@ -54,7 +53,7 @@
             break;
 
         case ESC_INIT:
-            rs_UTILS_pc.printf("Init esc\r\n");
+            rs_LOG_pc.printf("Init esc\r\n");
             b_UTILS_flag_button_ESC = false;
             pwm_ESC.period_ms(ESC_PERIOD_DURATION_MS);          //20 ms is default
             pwm_ESC.pulsewidth_us(0);
@@ -72,8 +71,7 @@
             wait(1);
             pwm_ESC.pulsewidth_us(ESC_PULSE_IDLE_US);
             wait(1);
-            t_emergency_brake.start();
-            t_emergency_brake.reset();
+            log_start(10000);
             break;
 
         case ESC_COMMAND: