Diff: main.cpp

Revision:

47:7919857587f8

Parent:

46:f4dcfe6652ac

Child:

48:1eb0f9ed6cd9

--- a/main.cpp	Thu Nov 01 15:30:27 2018 +0000
+++ b/main.cpp	Thu Nov 01 16:03:01 2018 +0000
@@ -58,7 +58,7 @@
 enum states {   calibratingMotors, calibratingEMG,
                 homing, reading, operating, failing, demoing
             };
-states currentState = calibratingMotors;        // start in waiting mode
+states currentState = calibratingMotors;        // start with calibrating motors
 bool changeState = true;                        // initialise the first state
 
 Ticker stateTimer;                              // state machine ticker
@@ -654,8 +654,8 @@
 //      --------------------------- transition ----------------------------
                     // Transition condition: when all motor errors smaller than 0.01,
                     //      start calibrating EMG
-                    if (errorL < 0.01 && errorR < 0.01
-                            && errorF < 0.01 && buttonHome == false) {
+                    if (errorL < 0.01f && errorR < 0.01f
+                            && errorF < 0.01f && buttonHome == false) {
 
                         // Actions when leaving state
                         blinkTimer.detach();
@@ -726,8 +726,8 @@
 //      --------------------------- transition ----------------------------
                     // Transition condition #1: with button press, enter reading mode,
                     //      but only when velocity == 0
-                    if (errorCalibratedL < 0.01 && errorCalibratedR < 0.01
-                            && errorCalibratedF < 0.01 && buttonBio1 == true) {
+                    if (errorCalibratedL < 0.01f && errorCalibratedR < 0.01f
+                            && errorCalibratedF < 0.01f && buttonBio1 == false) {
                         // Actions when leaving state
                         /* */
 
@@ -736,8 +736,8 @@
                     }
                     // Transition condition #2: with button press, enter demo mode
                     //      but only when velocity == 0
-                    if (errorCalibratedL < 0.01 && errorCalibratedR < 0.01
-                            && errorCalibratedF < 0.01 && buttonBio2 == true) {
+                    if (errorCalibratedL < 0.01f && errorCalibratedR < 0.01f
+                            && errorCalibratedF < 0.01f && buttonBio2 == false) {
                         // Actions when leaving state
                         /* */
 
@@ -809,7 +809,7 @@
 
 //      --------------------------- transition ----------------------------
                     // Transition condition: when path is over, back to reading mode
-                    if (errorCalibratedL < 0.01 && errorCalibratedR < 0.01) {
+                    if (errorCalibratedL < 0.01f && errorCalibratedR < 0.01f) {
                         // Actions when leaving state
                         blinkTimer.detach();