Diff: main.cpp

Revision:

35:012b2e045579

Parent:

34:60391fb72629

Child:

36:549d1ce7b96b

--- a/main.cpp	Tue Oct 20 08:26:10 2015 +0000
+++ b/main.cpp	Tue Oct 20 08:41:38 2015 +0000
@@ -180,7 +180,7 @@
         if(aimState!=OFF){                              // only if aim motor is rotating
             pwmM2.write(0);                             // Aim motor freeze       
             aimState = OFF;                             // motor state is off    
-            pc.printf("Motor freeze\r\n");                  // LCD
+            pc.printf("Motor freeze\r\n");              // LCD
             L = false;                                  // Modes must be first 1 for another action
             R = false;                                  // "" 
             }
@@ -290,6 +290,7 @@
                             }
                         }             
                     }
+                lcd.cls();
                 break;
                 }
             case AIM: {                  
@@ -297,6 +298,7 @@
                 int i = 0;                                  // counter for lcd      
                 while(state == AIM){
                     if(lcdFlag){
+                        lcdFlag = false;
                         if(i%3 == 0){
                             PRINT("Flex left or     right half to aim");
                             }
@@ -316,18 +318,30 @@
                     if(emgFlag){                        // Go flag EMG sampel
                         emgFlag = false;                                                            
                         if(controlAim()){                                                                   
-                            pc.printf("Position choosen, adjust shoot velocity\r\n");                            
+                            pc.printf("Position chosen\r\n");       // terminal                        
                             state = BREAK;                // Next state (BREAK)                       
                             }                      
                         }
-                    }            
+                    }
+                lcd.cls();            
                 break;
                 }
             case BREAK: {                
                 pc.printf("Set break percentage, current is: %.0f\r\n", breakPerc);
                 L = false;
                 R = false;
-                while(state == BREAK){                      
+                int i = 0;                                  // counter for lcd      
+                while(state == BREAK){
+                    if(lcdFlag){
+                        lcdFlag = false;
+                        if(i%2 == 0){
+                            PRINT("Flex L or R to   adjust break");
+                            }
+                        else {
+                            PRINT("Flex both        to continue");
+                            }
+                        i++;
+                        }                                    
                     if(emgFlag){            // Go flag EMG sampelen
                         emgFlag = false;                        
                         int modeL = defMode(emgL, potL, true);
@@ -371,11 +385,13 @@
                         }
                     }
                 L = false;      // modeL must be one for another action can take place
-                R = false;      // modeR ""                            
+                R = false;      // modeR ""
+                lcd.cls();                            
                 break;
                 }                    
             case FIRE: {            
                 pc.printf("Shooting\r\n");
+                PRINT("FIRING");
                 servo.pulsewidth(servoL);       // BREAK release
                 pwmM1.write(0.25);              // beam motor on               
                 bool servoPos = true;