UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

Diff: initializations.cpp

Revision:
4:89ebfa37663b
Parent:
3:527f0b949839
Child:
6:2ffa254e8f6e
--- a/initializations.cpp	Thu Feb 08 22:55:15 2018 +0000
+++ b/initializations.cpp	Mon Mar 05 23:08:34 2018 +0000
@@ -21,7 +21,7 @@
 
 void setupLift(){
     
-    hallInt.attach(&hallInterrupt, 0.05);
+    startHallInt();
     liftSpeed.period_us(50);
     
     // Find the bottom position. Go down at lowest speed and set zero point.
@@ -29,13 +29,15 @@
     liftSpeed.write(0.3);   
     
     // Wait until the motor stalls, know the motor is at bottom.
-    while(!stall){wait(.01);}
-    if(stall == true){
-       liftSpeed.write(0);
-       currentPosition = 0;
-       stall = false; 
-    } 
-    
+    while(stallcount < 3){wait(.01);}
+    liftSpeed.write(0);
+    currentPosition = 0;
+    stopHallInt();
+    wait(0.1);
+    liftDirection.write(LIFTUP);
+    liftSpeed.write(0.3);
+    wait(0.1);
+    liftSpeed.write(0);
 }
 
 void setupROSNode(ros::NodeHandle& nh, ros::Subscriber<std_msgs::Float32MultiArray>& sub){
@@ -44,5 +46,12 @@
     nh.initNode();
     nh.subscribe(sub);
 }
-    
+
+void startHallInt() {
+    hallInt.attach(&hallInterrupt, 0.03);
+}
 
+void stopHallInt() {
+    hallInt.detach();
+}
+