groep 16 / Mbed 2 deprecated Project_BioRobotics_12

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Dependencies:   mbed QEI HIDScope BiQuad4th_order biquadFilter MODSERIAL FastPWM

Diff: main.cpp

Revision:
16:ac4e3730f61f
Parent:
15:40dd74bd48d1
Child:
21:8798f776f778
--- a/main.cpp	Thu Nov 01 21:57:28 2018 +0000
+++ b/main.cpp	Fri Nov 02 08:05:30 2018 +0000
@@ -18,6 +18,8 @@
 DigitalIn button_Emg(D3);
 DigitalIn buttonx(D2); //x EMG replacement 
 DigitalIn buttony(D3); //y EMG replacement
+DigitalIn buttondirx(D2); //x direction change 
+DigitalIn buttondiry(D3); //y direction change
 DigitalIn Fail_button(SW3);
 // Modserial
 MODSERIAL pc(USBTX, USBRX);
@@ -847,10 +849,10 @@
     StateMachine.attach(&ProcessStateMachine, 0.005f);   // Run statemachine 200 times per second
     
     
-    InterruptIn buttonx(D2);
-    buttonx.fall(ChangeDirectionX); //change the direction of the setpoint in x direction
-    InterruptIn buttony(D3);
-    buttony.fall(ChangeDirectionY); //change the direction of the setpoint in y direction
+    InterruptIn buttondirx(D2);
+    
+    InterruptIn buttondiry(D3);
+    
         
     while (true) {
         
@@ -887,6 +889,9 @@
             else {
                 need_to_move_2 = 0;
                 }
+                
+            buttondirx.fall(ChangeDirectionX); //change the direction of the setpoint in x direction
+            buttondiry.fall(ChangeDirectionY); //change the direction of the setpoint in y direction
         }
 
         wait(0.5f);