Diff: main.cpp

Revision:

15:4cd14d429ad8

Parent:

14:a27de0ddf09f

Child:

16:58b0df053d45

--- a/main.cpp	Fri Oct 28 12:40:06 2016 +0000
+++ b/main.cpp	Fri Oct 28 12:51:34 2016 +0000
@@ -73,11 +73,7 @@
 Timeout Lift_Timeout;
 bool Lift_Timeout_Switch = true;
 
-void Slide_Controller();
-void Lift_Controller();
-void Ticker_Flag();
-
-float statechange_threshold = 0.6;        /////// moet gekopieerd worden  t/m-->
+float statechange_threshold = 0.6;
 bool binary_norm_emg_2 = 0;        
 bool binary_norm_emg_2_previous = 0;
 states scoopstate = STATE_MOVE;
@@ -87,26 +83,13 @@
 DigitalOut LED_STATE_GRAB(D14);
 Timeout controlstarterTimeout;
 
-void set2true(){
-    state_resettime_value = 1;
-}
-void change_scoopstate(){
-    Motor1_pwm.write(0);
-    Motor2_pwm.write(0);
-    switch(scoopstate){
-        case STATE_MOVE:
-            scoopstate = STATE_GRAB;
-            break;
-        case STATE_GRAB:
-            scoopstate = STATE_MOVE;
-            break;
-    }
-    state_resettime.attach(&set2true, 1);
-    state_resettime_value = 0;
-}
-void start_controlling(){
-    Controller.attach(&Ticker_Flag,1/Frequency);
-}                                       ///////////////hier
+void Slide_Controller();
+void Lift_Controller();
+void Ticker_Flag();
+
+void set2true();
+void change_scoopstate();
+void start_controlling();
 
 int main()
 {
@@ -177,6 +160,29 @@
     return 0;
 }
 
+void set2true(){
+    state_resettime_value = 1;
+}
+
+void change_scoopstate(){
+    Motor1_pwm.write(0);
+    Motor2_pwm.write(0);
+    switch(scoopstate){
+        case STATE_MOVE:
+            scoopstate = STATE_GRAB;
+            break;
+        case STATE_GRAB:
+            scoopstate = STATE_MOVE;
+            break;
+    }
+    state_resettime.attach(&set2true, 1);
+    state_resettime_value = 0;
+}
+
+void start_controlling(){
+    Controller.attach(&Ticker_Flag,1/Frequency);
+}   
+
 void Ticker_Flag(){
     Controller_Flag = true;
 }