Diff: main.cpp

Revision:

22:b7cca3089dfe

Parent:

20:7138ab2f93f7

--- a/main.cpp	Sat Jul 16 19:17:28 2016 +0000
+++ b/main.cpp	Mon Sep 21 21:45:08 2020 +0000
@@ -37,7 +37,7 @@
 
 
 //Control Objetcs
-PwmOut servo(PTD3);         // Servo connected to pin PTD3
+PwmOut servo(PTD1);         // Servo connected to pin PTD3
 Motor motor;
 FXOS8700Q_mag mag(PTE25,PTE24,FXOS8700CQ_SLAVE_ADDR1);
 FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
@@ -46,7 +46,10 @@
 DigitalOut red_led(LED_RED);
 DigitalOut green_led(LED_GREEN);
 DigitalOut blue_led(LED_BLUE);
-DigitalOut main_led(PTD2);
+DigitalOut red_led_s(PTD0);
+DigitalOut green_led_s(PTB2); //PTC4
+DigitalOut blue_led_s(PTC12);
+DigitalOut main_led(PTC4);
 //Protocol Objects
 Receiver rcv;
 EthernetInterface eth;
@@ -80,6 +83,7 @@
 void turn_leds_off();
 
 int main(){
+    
     // Initializing sensors:
     main_led = 1;
     acc.enable();
@@ -91,16 +95,23 @@
     
     // Protocol initialization
     
+    
+    
+    
     printf("Initializing Ethernet!\r\n");
     set_leds_color(RED);
     eth.init(RECEIVER_IFACE_ADDR, RECEIVER_NETMASK_ADDR, RECEIVER_GATEWAY_ADDR);
     eth.connect();
     printf("Protocol initialized! \r\n");
+    gyro.start_measure(GYRO_PERIOD);
     set_leds_color(BLUE);
     rcv.set_socket();
-    gyro.start_measure(GYRO_PERIOD);
+    
     main_led = 0;
     controller_ticker.attach(&control,Ts);
+    
+    
+    
     //main loop
     while(1){
         readProtocol();
@@ -350,30 +361,42 @@
     switch(color)
     {
         case RED:
-            red_led = RGB_LED_ON;               
+            red_led = RGB_LED_ON;
+            red_led_s = RGB_LED_ON;                 
             break;
         case GREEN:
             green_led = RGB_LED_ON;
+            green_led_s = RGB_LED_ON;
             break;
         case BLUE:
             blue_led = RGB_LED_ON;
+            blue_led_s = RGB_LED_ON;
             break;
         case PURPLE:
             red_led = RGB_LED_ON;
             blue_led = RGB_LED_ON;
+            red_led_s = RGB_LED_ON;
+            blue_led_s = RGB_LED_ON;
             break;
         case YELLOW:
             red_led = RGB_LED_ON;
             green_led = RGB_LED_ON;
+            red_led_s = RGB_LED_ON;
+            green_led_s = RGB_LED_ON;
             break;
         case AQUA:
             blue_led = RGB_LED_ON;
             green_led = RGB_LED_ON;
+            blue_led_s = RGB_LED_ON;
+            green_led_s = RGB_LED_ON;
             break;
         case WHITE:
             red_led = RGB_LED_ON;
             green_led = RGB_LED_ON;
             blue_led = RGB_LED_ON;
+            red_led_s = RGB_LED_ON;
+            green_led_s = RGB_LED_ON;
+            blue_led_s = RGB_LED_ON;
             break;
         default:
             break;