Diff: main.cpp

Revision:

6:5619aff36840

Parent:

5:b30229c6f32b

Child:

7:a9e98f642a89

--- a/main.cpp	Sun Nov 03 11:46:19 2013 +0000
+++ b/main.cpp	Mon Nov 04 21:23:42 2013 +0000
@@ -34,10 +34,7 @@
 
 volatile int update = 0;
 volatile int extInChanged = 0;
-volatile int ballChanged = 0;
-volatile int ballState = 0;
-volatile int goalButtonReleased = 0;
-volatile int startButtonReleased = 0;
+
 volatile int stallChanged = 0;
 
 bool failSafeEnabled = true;
@@ -90,24 +87,6 @@
     extInChanged = 1;
 }
 
-void ballRiseCallback() {
-    ballChanged = 1;
-    ballState = 1;
-}
-
-void ballFallCallback() {
-    ballChanged = 1;
-    ballState = 0;
-}
-
-void goalRiseCallback() {
-    goalButtonReleased = 1;
-}
-
-void startRiseCallback() {
-    startButtonReleased = 1;
-}
-
 void stallChangedCallback() {
     stallChanged = 1;
 }
@@ -218,11 +197,6 @@
     //button1.change(&extChangedCallback);
     //button2.change(&extChangedCallback);
     
-    humanInterface.ballRise(&ballRiseCallback);
-    humanInterface.ballFall(&ballFallCallback);
-    humanInterface.goalRise(&goalRiseCallback);
-    humanInterface.startRise(&startRiseCallback);
-    
     //humanInterface.change(&extChangedCallback);
     
     motor1.stallChange(&stallChangedCallback);
@@ -306,24 +280,27 @@
         }     
         
         
-        if (ballChanged) {
-            ballChanged = 0;
-            int charCount = sprintf(sendBuffer, "<ball:%d>", ballState);
-            server.sendTo(client, sendBuffer, charCount); 
-            if (ballState) {
-                led4 = 1;
-            } else {
-                led4 = 0;
-            }
+        switch (humanInterface.getBallState()){
+            case -1:
+                //Ball lost
+                server.sendTo(client, "<ball:0>", 8);
+                break;
+            case 0:
+                //Nothing has changed..
+                break;
+            case 1:
+                //Ball found
+                server.sendTo(client, "<ball:1>", 8);
+                break;
+            default:
+                break;
         }
         
-        if (goalButtonReleased) {
-            goalButtonReleased = 0;
+        if (humanInterface.isGoalChange()) {
             server.sendTo(client, "<toggle-side>", 13);
         }
         
-        if (startButtonReleased) {
-            startButtonReleased = 0;
+        if (humanInterface.isStart()) {
             server.sendTo(client, "<toggle-go>", 11);
         }