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Dependencies: HIDScope MODSERIAL QEI TextLCD mbed
Fork of
TotalControlEmg2
by 
Remco Dasselaar
Revision 49:b571c822c3f9, committed 2015-10-27
- Comitter:
- RemcoDas
- Date:
- Tue Oct 27 12:01:44 2015 +0000
- Parent:
- 48:07e3cf7dc819
- Child:
- 50:16314b798754
- Commit message:
- Final
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Oct 27 11:58:16 2015 +0000
+++ b/main.cpp Tue Oct 27 12:01:44 2015 +0000
@@ -10,7 +10,6 @@
//--------------------Classes------------------------
InterruptIn btnSet(PTC6); // Kalibration button
InterruptIn emgSet(PTA4); // EMG on/off button
-//DigitalOut ledR(LED_RED), LedB(LED3); // Leds on K64F
MODSERIAL pc(USBTX, USBRX); // Modserial voor Putty
TextLCD lcd(PTC5, PTC7, PTC0, PTC9, PTC8, PTC1); // LCD screen on inner row of K64F, rs, e, d4-d7
PwmOut servo(D3); // PwmOut servo
@@ -179,11 +178,6 @@
pwmM2.write(0); // Aim motor freeze
aimState = OFF; // next state
}
- /*else if((modeR == 2 && R) && (modeL == 2 && L)) { // modes are both 2
- both = true; // Return true
- pwmM2.write(0); // Aim motor freeze
- aimState = OFF; // next state
- }*/
else if((modeR == 2)) { // modeR ==2
if(aimState != CCW){
aimState = CCW; // Rotate CCW
@@ -213,7 +207,7 @@
btnSet.mode(PullUp); // Button mode
btnSet.rise(&btnSetAction); // Connect button to function
emgSet.mode(PullUp); // Button mode
- emgSet.rise(&emgOnOff); // Connect button to function
+ emgSet.rise(&emgOnOff); // Connect button to function
tickerControl.attach(&setControlFlag,tControl); // ticker control motor
EMGticker.attach(&setEmgFlag, t); // ticker EMG, 500H
tickerLcd.attach(&setLcdFlag,tLcd); // ticker lcd
@@ -234,13 +228,13 @@
printf("Position is kalibrating\r\n"); // terminal
PRINT("Wait a moment, please"); // LCD
dirM2.write(0); // direction aim motor
- pwmM2.write(0.2); // percentage motor power
- bool calibrated = false; //
+ pwmM2.write(0.2); // percentage motor power
+ bool calibrated = false;
while(state==CALIBRATE_AIM){
if(controlFlag){
controlFlag = false;
if(!calibrated){ // Not calibrated
- if((ksRight.read()>0.8)){ // Killswitch?
+ if((ksRight.read()>0.8)){ // Killswitch?
pwmM2.write(0); // Aim motor freeze
enc2.reset(); // Reset encoder
PRINT("Aim calibrated"); // LCD
@@ -248,10 +242,10 @@
calibrated = true;
pc.printf("Go to midi position\r\n");
dirM2.write(1); // direction aim motor
- pwmM2.write(0.2); // percentage motor power, turn it on
+ pwmM2.write(0.2); // percentage motor power, turn it on
}
}
- if(calibrated) { // Calibrated
+ if(calibrated) { // Calibrated
checkAim(); // Check killswitches
if(abs(enc2.getPulses()) > 600){ // rotate aim motor to midi position
pwmM2.write(0); // Aim motor freeze
@@ -260,6 +254,7 @@
}
}
}
+ lcd.cls();
break;
}
case CALIBRATE_BEAM: {