Revision 84:00c799fd10a7, committed 2013-04-16

Comitter:

madcowswe

Date:

Tue Apr 16 10:05:58 2013 +0000

Parent:

83:223186cd7531

Child:

85:b0858346d838

Commit message:

90s timer and armlock

Changed in this revision

--- a/Processes/AI/ai.cpp	Mon Apr 15 22:28:07 2013 +0000
+++ b/Processes/AI/ai.cpp	Tue Apr 16 10:05:58 2013 +0000
@@ -129,7 +129,7 @@
         if(layer_to_push == top_layer)
         {
             ColourEnum colour_read = c_upper.getColour();
-            if (colour_read==own_colour)
+            if ((colour_read==own_colour) && MotorControl::motorsenabled)
             {
                 arm::upper_arm.go_down();
                 top_arm_up_timer.start(1200);
@@ -138,7 +138,7 @@
         else
         {
             ColourEnum colour_read = c_lower.getColour();
-            if (colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/)
+            if ((colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/) && MotorControl::motorsenabled)
             {
                 arm::lower_arm.go_down();
                 bottom_arm_up_timer.start(1200);
@@ -227,22 +227,25 @@
         switch(action[i])
         {
             case top_push_colour:
-                if (c_upper.getColour()==own_colour)
+                if ((c_upper.getColour()==own_colour) && MotorControl::motorsenabled)
                 {
                     arm::upper_arm.go_down();
                     top_arm_up_timer.start(1200);
                 }
             break;
             case bot_push_colour:
-                if (c_lower.getColour()==own_colour)
+                if ((c_lower.getColour()==own_colour) && MotorControl::motorsenabled)
                 {
                     arm::lower_arm.go_down();
                     bottom_arm_up_timer.start(1200);
                 }
             break;
             case bot_push_white:
-                arm::lower_arm.go_down();
-                bottom_arm_up_timer.start(1200);
+                if (MotorControl::motorsenabled)
+                {
+                    arm::lower_arm.go_down();
+                    bottom_arm_up_timer.start(1200);
+                }
             break;            
         }
         

--- a/globals.h	Mon Apr 15 22:28:07 2013 +0000
+++ b/globals.h	Tue Apr 16 10:05:58 2013 +0000
@@ -85,6 +85,8 @@
 
 const PinName P_START_CORD = p17;
 
+const PinName P_BALLOON = p8;
+
 
 
 //a type which is a pointer to a rtos thread function

--- a/main.cpp	Mon Apr 15 22:28:07 2013 +0000
+++ b/main.cpp	Tue Apr 16 10:05:58 2013 +0000
@@ -28,6 +28,13 @@
 void printingtestthread2(void const*);
 void feedbacktest();
 
+DigitalOut *balloon_ptr;
+
+void timeisup_isr(){
+    MotorControl::motorsenabled = 0;
+    *balloon_ptr = 0;
+}
+
 int main()
 {
 
@@ -82,12 +89,22 @@
 
     Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048);
     
+    //worry about starting
     DigitalIn startcord(P_START_CORD);
     startcord.mode(PullUp);
     while(!startcord)
         Thread::wait(50);
+        
+    //worry about stopping
+    DigitalOut balloon(P_BALLOON);
+    balloon = 1;
+    balloon_ptr = &balloon;
+    Timeout timeout_90s;
+    timeout_90s.attach(timeisup_isr, 90);
+    
     aithread.signal_set(0x2); //Tell AI thread that its time to go
     
+    
     measureCPUidle(); //repurpose thread for idle measurement
     /*
     MotorControl::set_omegacmd(0);