Diff: main.cpp

Revision:

2:45da48fab346

Parent:

1:8119211eae14

Child:

3:717de74f6ebd

--- a/main.cpp	Fri Mar 29 16:28:56 2013 +0000
+++ b/main.cpp	Fri Mar 29 20:09:21 2013 +0000
@@ -6,8 +6,9 @@
 #include "Actuators/MainMotors/MainMotor.h"
 #include "Sensors/Encoders/Encoder.h"
 #include "Actuators/Arms/Arm.h"
+#include "Others/EmergencyStop/EmergencyStop.h"
 
-PwmOut Led(LED1);
+
 
 void motortest();
 void encodertest();
@@ -15,15 +16,21 @@
 void motorencodetestline();
 void motorsandservostest();
 void armtest();
+void motortestline();
 
 int main() {
+/*  Setup Emergency stop for actuators,
+    Derive all actuators from the pure virtual actuator class
+*/  EmergencyStop EStop(p8); 
+    
     //motortest();
     //encodertest();
     //motorencodetest();
     //motorencodetestline();
     //motorsandservostest();
     armtest();
-}
+    //motortestline();
+    }
 
 void armtest(){
     Arm white(p26), black(p25, false,0.0005, 180);
@@ -61,7 +68,7 @@
         if (servoTimer.read() < 1){
             sTop.clockwise();
         } else if (servoTimer.read() < 4) {
-            sTop.relax();
+            sTop.halt();
         } else if (servoTimer.read() < 5) {
             sBottom.anticlockwise();
             //Led=1;
@@ -69,7 +76,7 @@
             sBottom.clockwise();
             //Led=0;
         } else if (servoTimer.read() < 7) {
-            sBottom.relax();
+            sBottom.halt();
         }else {
             sTop.anticlockwise();
         }
@@ -77,6 +84,13 @@
     }
 }
 
+void motortestline(){
+    MainMotor mleft(p24,p23), mright(p21,p22);
+    const float speed = 0.2;
+    mleft(speed); mright(speed);
+    while(true) wait(1);
+}
+
 void motorencodetestline(){
     Encoder Eleft(p27, p28), Eright(p30, p29);
     MainMotor mleft(p24,p23), mright(p21,p22);