Diff: main.cpp

Revision:

8:8cef1050ebd9

Parent:

7:ef5966469621

Child:

9:8a162a3505ed

--- a/main.cpp	Wed Oct 31 17:15:52 2018 +0000
+++ b/main.cpp	Wed Oct 31 21:23:23 2018 +0000
@@ -6,19 +6,29 @@
 #include "HIDScope.h"
 #include "MODSERIAL.h"
 
-// Inputs & outputs
-DigitalOut  ledRed(LED_RED,1);      // red LED K64F
-DigitalOut  ledGreen(LED_GREEN,1);  // green LED K64F
-DigitalOut  ledBlue(LED_BLUE,1);    // blue LED K64F
+// LEDs
+DigitalOut ledRed(LED_RED,1);       // red LED K64F
+DigitalOut ledGreen(LED_GREEN,1);   // green LED K64F
+DigitalOut ledBlue(LED_BLUE,1);     // blue LED K64F
+// DigitalOut ledBio1(,1);          // led 1 Biorobotics shield                 // LED pins
+// DigitalOut ledBio2(,1);          // led 2 Biorobotics shield                 
+
+Ticker blinkTimer;                       // LED ticker
+
+// Buttons/inputs
 InterruptIn buttonBio1(D0);         // button 1 BioRobotics shield
 InterruptIn buttonBio2(D1);         // button 2 BioRobotics shield
 InterruptIn buttonK64F(SW3);        // button on K64F
-InterruptIn emergencybutton(SW2);   // emergency button on K64F
+InterruptIn buttonEmergency(SW2);   // emergency button on K64F
 
+// Motor pins
+
+
+// PC communication
 MODSERIAL pc(USBTX, USBRX);         // communication with pc
 
 // Define & initialise state machine
-enum states {   waiting, calibratingMotors, calibratingEMG,
+enum states {   calibratingMotors, calibratingEMG, 
                 homing, operating, reading, failing, demoing
             };
 states currentState = waiting;      // start in waiting mode
@@ -35,6 +45,11 @@
     currentState = failing;             // change to state
     changeState = true;                 // next loop, switch states
 }
+
+void blinkLED(DigitalOut led)                                                   // blinkTimer.attach(&blinkLED,0.5) aanroepen bij initialisation, bij verlaten state:
+{                                                                               // blinkTimer.detach
+    led =! led;                         // toggle LED
+    
 //  ============================ MOTOR FUNCTIONS ==============================
 
 
@@ -65,7 +80,7 @@
 //      --------------------------- transition ----------------------------
             // Transition condition #1: with a button press, enter motor
             //      calibration mode
-            if (emergencybutton == true) {                                      // Waarom drukken we op de noodknop om te beginnen? Lijkt me raar
+            if (buttonEmergency == true) {                                      // Waarom drukken we op de noodknop om te beginnen? Lijkt me raar
                 // Actions when leaving state                                   // Is hier niet de resetknop voor bedoeld?
                 /* */
 
@@ -300,9 +315,12 @@
 
 int main()
 {
-//  ================================ EMERGENCY ================================ // Dit hoeft dus niet in de while loop?
+//  ================================ EMERGENCY ================================
     //If the emergency button is pressed, stop program via failing state        
-    emergencybutton.rise(stopProgram);                                          // Automatische triggers voor failure mode?
+    buttonEmergency.rise(stopProgram);                                          // Automatische triggers voor failure mode?
+    
+//  ================================ EMERGENCY ================================ 
+    pc.baud(115200); // communication with terminal                             // Baud rate
 
 // ==================================== LOOP ===================================
     while (true) {                  // loop forever