Revision 5:47cb37923f58, committed 2015-06-11

Comitter:

dkester

Date:

Thu Jun 11 20:57:59 2015 +0000

Parent:

4:f81029197ab2

Commit message:

working 11 jun

Changed in this revision

diff -r f81029197ab2 -r 47cb37923f58 IdleCommand.cpp
--- a/IdleCommand.cpp	Thu Jun 11 10:42:50 2015 +0000
+++ b/IdleCommand.cpp	Thu Jun 11 20:57:59 2015 +0000
@@ -1,29 +1,30 @@
 #include "IdleCommand.h"
- 
-IdleCommand::IdleCommand(Sensors* sensors, GonioService* gonioService) {
-   this->sensors = sensors;
-   this->gonioService = gonioService;
-    }
- 
-void IdleCommand::initialize(){
-    
+
+IdleCommand::IdleCommand(Sensors* sensors, GonioService* gonioService)
+{
+    this->sensors = sensors;
+    this->gonioService = gonioService;
+}
+
+void IdleCommand::initialize()
+{
+
     printf("IdleCommand\n");
     sensors->disableIMU();
     setTicker(0.5);
-    }
- 
-void IdleCommand::execute(){}
-    
-void IdleCommand::button(){
-    printf("****   BUTTON: IdleCommand   *****\n");
-       int16_t angle = (sensors->getAngle(0) << 8) + sensors->getAngle(1);
-    
+}
+
+void IdleCommand::execute() {}
+
+void IdleCommand::button()
+{
+    int16_t angle = (sensors->getAngle(0) << 8) + sensors->getAngle(1);
+
     //printf("%.2f,%d\n", ((float)angle) * 0.087912087, angle);
-    
+
     sensors->updateAngle();
     sensors->updateIMU();
-    
-    
+
     int16_t accel[3] = {0,0,0};
     int16_t gyro[3] = {0,0,0};
 
@@ -33,19 +34,20 @@
     gyro[0]  = (sensors->getIMU(6)<<8)+sensors->getIMU(7);
     gyro[1]  = (sensors->getIMU(8)<<8)+sensors->getIMU(9);
     gyro[2]  = (sensors->getIMU(10)<<8)+sensors->getIMU(11);
-    
-    
-    if(gonioService->isConnected()){
+
+
+    if(gonioService->isConnected()) {
         gonioService->updateGonio(angle,gyro[0],accel[0]);
     }
-    }
-    
-void IdleCommand::finish(){
+}
+
+void IdleCommand::finish()
+{
     detachTicker();
     setLed(0);
-    }
-    
+}
 
 
 
 
+

diff -r f81029197ab2 -r 47cb37923f58 TrainingCommand.cpp
--- a/TrainingCommand.cpp	Thu Jun 11 10:42:50 2015 +0000
+++ b/TrainingCommand.cpp	Thu Jun 11 20:57:59 2015 +0000
@@ -2,14 +2,20 @@
 
 int16_t dummyAngle = 0;
 
+DigitalOut blue(p15);
+DigitalOut data(p13);
+
 TrainingCommand::TrainingCommand(Sensors* sensors, GonioService* gonioService)
 {
     this->sensors = sensors;
     this->gonioService = gonioService;
+    blue = 0;
+    data = 0;
+
 }
 
 void TrainingCommand::initialize()
-{    
+{
     dummyAngle = 1;
     setTicker(0.1);
 }
@@ -34,7 +40,7 @@
             //printf(" FREE FALL ");
         }
         //printf("status: %d\n", statusInt);
-    } 
+    }
 
     if (readInt & 0x01) {
         //sensors->updateAngle();
@@ -45,12 +51,25 @@
         peak = 0;
     }
     */
+
+    data = 1;
+    sensors->updateAngle();
+    sensors->updateIMU();
+
+    int16_t angle = (sensors->getAngle(0) << 8) + sensors->getAngle(1);
+    //int16_t angle = (sensors->getAngleDummy(0) << 8) + sensors->getAngleDummy(1);
+    //__disable_irq();
+    data = 0;
     
-    //sensors->updateAngle();
-    //sensors->updateIMU();
-    int16_t angle = (sensors->getAngleDummy(0) << 8) + sensors->getAngleDummy(1);
-    gonioService->updateGonio(angle,angle,angle);
-    dummyAngle++;
+    wait(0.001);
+
+    if(gonioService->isConnected()) {
+        blue = 1;
+               gonioService->updateGonio(angle,angle,angle);
+        blue = 0;
+    }
+
+    //__enable_irq();
 }
 
 void TrainingCommand::button()