Diff: System/Process/Process.cpp

Revision:

17:50dc4b449e69

Parent:

16:3f2c2d89372b

Child:

18:c694bae76e51

--- a/System/Process/Process.cpp	Mon Jul 01 13:00:20 2019 +0000
+++ b/System/Process/Process.cpp	Sat Jul 06 07:58:17 2019 +0000
@@ -52,7 +52,6 @@
 Ticker BuzzerTimer;
 bool EMGflag = false;
 PwmOut buzzer(BUZZER_PIN);
-//buzzer.period(1.0/800);
 //**************Buzzer****************
 
 //************TapeLed*****************
@@ -187,6 +186,7 @@
 		//LED_DEBUG0 = !LED_DEBUG0;
 		//LED_DEBUG1 = !LED_DEBUG1;
 		//printf("%d\r\n",ECD_0.getPulses());
+		buzzer.period(1.0/800);
 		
 		#ifdef USE_MU
 		controller = CONTROLLER::Controller::GetData();
@@ -198,8 +198,11 @@
 			CONTROLLER::Controller::DataReset();
 			AllActuatorReset();
 			lock = true;
-			buzzer = 1;
-			BuzzerTimer.attach(BuzzerTimer_func, 0.5);
+			//buzzer = 1;
+			//BuzzerTimer.attach(BuzzerTimer_func, 0.5);
+			//buzzer = 1;
+			//BuzzerTimer.attach(&BuzzerTimer_func, 1.2);
+			//BuzzerTimer.attach(BuzzerTimer_func, 1);
 		}
 		else
 		#endif
@@ -218,18 +221,17 @@
 		}
 		
 		//Emergency!
-		if(EMG_0 || EMG_1){
-			buzzer = 1;
-			BuzzerTimer.attach(BuzzerTimer_func, 1.2);
-			current = 0;
+		if(!EMG_0 && !EMG_1 && !EMGflag){
+			buzzer = 0;
+			BuzzerTimer.attach(BuzzerTimer_func, 1);
+			EMGflag = true;
+			LED_DEBUG0 = 1;
 		}
-		
-		//Safety	
-		if(!EMG_0 && !EMG_1){
-			buzzer = 0;
+		if(EMG_0 && EMG_1 && EMGflag){
+			buzzer = 1;
 			BuzzerTimer.detach();
+			EMGflag = false;
 		}
-		
 		SystemProcessUpdate();
 	}
 }
@@ -329,6 +331,7 @@
 
 void BuzzerTimer_func(){
     buzzer = !buzzer;
+    //LED_DEBUG0 = !LED_DEBUG0;
 }
 
 void TapeLedEms_func() {