Diff: main.cpp

Revision:

24:fb1f083ebd62

Parent:

23:455f7da3dd7a

Child:

25:f3bf8351bbd4

--- a/main.cpp	Sun Apr 03 07:08:18 2016 +0000
+++ b/main.cpp	Sun Apr 03 07:25:07 2016 +0000
@@ -24,7 +24,7 @@
 I2C i2c2(p9, p10);
 LOCALIZE loc(i2c1, i2c2, p29, p8, p7, p6, p5, led1, led2, led3, led4);
 LOCALIZE_xya xya;
-LOCOMOTION motion(p11, p21, p22, p23, p24, p15, p16);
+LOCOMOTION motion(p11, p21, p22, p23, p24, p15, p16, led1, led2, led3, led4);
 
 void BrownOut();
 
@@ -40,6 +40,11 @@
     suction.period_ms(2);
     //Initialize to 0
     suction.pulsewidth_us(1000);
+    //Watchdog Reset Indicator
+    if ((LPC_WDT->WDMOD>>2)&1)
+        led4=1;
+    else
+        led3=1;
     //Start Watchdog
     safe.kick(WATCHDOG_TIME);
     //Power Down Ethernet and USB and Enable Brown Out Interrupt
@@ -50,6 +55,10 @@
 #if not defined(PC_MODE)
     t.attach(&send,1);
 #endif
+    led1=0;
+    led2=0;
+    led3=0;
+    led4=0;
     while(1) {
         //loc.get_xy(&xya);
         /*if(motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_TURN)) {
@@ -64,7 +73,7 @@
                 angle_error=10;
         }*/
 
-        
+
 #if defined(PC_MODE)
         pc.printf("X: %3d\tY: %3d\tP: %3d\n",xya.x,xya.y,xya.a);
 #endif
@@ -81,15 +90,17 @@
 
 void BrownOut()
 {
-    //Ensure suction on
+    //Stop Motors and Driver
     motion.eStop();
+    //Ensure suction on
     suction.pulsewidth_us(2000);
+    //Light Up Error Light Pattern
     led1=1;
     led2=0;
     led3=1;
     led4=0;
     //Power Down Non Essential
-    Peripheral_PowerDown(~(LPC1768_PCONP_PCPWM1 | LPC1768_PCONP_PCGPIO | LPC1768_PCONP_PCTIM0));
+    Peripheral_PowerDown(~(LPC1768_PCONP_PCPWM1 | LPC1768_PCONP_PCGPIO));
     //Sleep wake by interrupt
     //Sleep();
 }
\ No newline at end of file