Remco Dasselaar / Mbed 2 deprecated TotalControlEmg2

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Dependencies:   HIDScope MODSERIAL QEI TextLCD mbed

Fork of TotalControlEmg2 by Remco Dasselaar

Files at this revision

API Documentation at this revision

Revision 42:18cb904dab56, committed 2015-10-22

Comitter:
RemcoDas
Date:
Thu Oct 22 08:14:20 2015 +0000
Parent:
41:91c8c39d7a33
Child:
43:929cab5358ee
Commit message:
Met killswitch als digitalIn, nog niet getest

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Oct 22 08:07:27 2015 +0000
+++ b/main.cpp	Thu Oct 22 08:14:20 2015 +0000
@@ -15,7 +15,7 @@
 PwmOut servo(D3);                   // PwmOut servo
 AnalogIn emgL(A0), emgR(A1);        // Analog input of EMG, left and right
 AnalogIn potL(A2), potR(A3);        // Potential meter left and right
-AnalogIn ksLeft(A4), ksRight(A5);   // Killswitch left and right
+DigitalIn ksLeft(PTE24), ksRight(PTE25);   // Killswitch left and right
 HIDScope scope(2);                  // Hidscope, amount of scopes           
 Ticker EMGticker, tickerControl, tickerBreak, tickerLcd;   // Ticker for EMG, regulator and break
 // QEI Encoder(port 1, port 2, ,counts/rev
@@ -144,7 +144,7 @@
     breakFlag = true;
     }  
 void checkAim(){                    // check if Killswitch is on or max counts is reached    
-    if((ksRight.read() > 0.8) || (ksLeft.read() > 0.8)){
+    if((ksRight.read()) || (ksLeft.read())){
         if(pwmM1.read()>0){                                // Aim motor is running
             pwmM2.write(0);                                // Aim motor freeze
             pc.printf("BOEM! CRASH! KASTUK!\r\n");         // Terminal
@@ -233,7 +233,7 @@
                     if(controlFlag){       // motor regelen op GoFlag
                         controlFlag = false;
                         if(!calibrated){                        // Not calibrated
-                            if((ksRight.read() > 0.8)){         // Killswitch? 
+                            if((ksRight.read())){         // Killswitch? 
                                 pwmM2.write(0);                 // Aim motor freeze
                                 enc2.reset();                   // Reset encoder 
                                 PRINT("Aim calibrated");        // LCD