Diff: main.cpp

Revision:

1:a91950a8e20f

Parent:

0:d8528fbbaf9c

Child:

2:ea2d1441d485

--- a/main.cpp	Fri Nov 25 10:42:48 2011 +0000
+++ b/main.cpp	Fri Nov 25 17:22:31 2011 +0000
@@ -20,8 +20,7 @@
 #include "cmd_io.h"
 #include "globals.h"
 
-#define MAINT_MODE "y"   //add define to receive mode value
-#define SORT_MODE "z"    //add define to receive mode value
+
 
 //******************************************************************************
 //declare ticker
@@ -216,6 +215,9 @@
         case MAINT_MODE :
             bSort_Mode = 0;
             bMaint_Mode = 1;
+            servo_4.pulsewidth_us(0); 
+            servo_0.pulsewidth_us(1000 + (0 * 1000) / 90);
+            servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); 
             break;
             
             
@@ -243,11 +245,15 @@
     sensor1.read();
         if(sensor1 > 0.5) {
                 led1 = 1;
-                valueLED1 = 1;
+                if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
+                    valueLED1 = 1;
+                }
         }
         else if(sensor1 < 0.5){
                led1 = 0;
-                valueLED1 = 0;
+               if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
+                    valueLED1 = 0;
+               }
         }
 }
 
@@ -267,7 +273,7 @@
 
 //function for the state machine to move servos between 2 positions
 void state_machine (){
-
+    if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
     switch(state)
     {
         case 0:                                                  // initial state
@@ -341,7 +347,8 @@
                     state = 0;
              }
              break;         
-    }  
+    } 
+   } 
 }
 
 
@@ -359,12 +366,12 @@
      timer2p.attach(&sensor2p, 0.1);         //function sensor2p is reading all the 0.1 ms
      timer1p.attach(&sensor1p, 0.1);         //function sensor1p is reading all the 0.1 ms
     
-     if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
+     
         counter1p.read();
         counter2p.read();
         
         timerstatemachine.attach(&state_machine, 0.1);
-     }
+   
     
 
      clk = !clk;