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add led function

This commit is contained in:
interfisch 2021-03-31 21:58:23 +02:00
parent fd3a474f18
commit fea152adc8
1 changed files with 30 additions and 6 deletions
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36
controller_teensy/src/main.cpp
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@ -76,6 +76,10 @@ float filtered_currentAll=0;
int16_t cmd_send=0; int16_t cmd_send=0;
int16_t last_cmd_send=0; int16_t last_cmd_send=0;
uint8_t speedmode=0;
#define SPEEDMODE_SLOW 1
#define SPEEDMODE_NORMAL 0
// Global variables for serial communication // Global variables for serial communication
typedef struct{ typedef struct{
@ -149,6 +153,7 @@ void failChecks();
void sendCMD(); void sendCMD();
void checkLog(); void checkLog();
void updateMotorparams( MotorParameter &mp, SerialFeedback &fb); void updateMotorparams( MotorParameter &mp, SerialFeedback &fb);
void leds();
void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef) void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef)
{ {
@ -243,7 +248,7 @@ void setup()
pinMode(PIN_START, INPUT_PULLUP); pinMode(PIN_START, INPUT_PULLUP);
pinMode(PIN_LED_START, OUTPUT); //Active High pinMode(PIN_LED_START, OUTPUT); //Active High
digitalWrite(PIN_LED_START,HIGH);
pinMode(PIN_MODE_LEDG, OUTPUT); //Active Low pinMode(PIN_MODE_LEDG, OUTPUT); //Active Low
digitalWrite(PIN_MODE_LEDG,LOW); digitalWrite(PIN_MODE_LEDG,LOW);
pinMode(PIN_MODE_LEDR, OUTPUT); //Active Low pinMode(PIN_MODE_LEDR, OUTPUT); //Active Low
@ -287,6 +292,8 @@ void loop() {
//If needed write log to serial port //If needed write log to serial port
checkLog(); checkLog();
leds();
} }
@ -378,14 +385,19 @@ void readADC() {
//Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", "); //Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
//Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println(); //Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected
throttle_pos/=2; speedmode=SPEEDMODE_SLOW;
digitalWrite(PIN_MODE_LEDG,LOW); //Green, low is on
digitalWrite(PIN_MODE_LEDR,HIGH);
}else{ //button not pushed in }else{ //button not pushed in
digitalWrite(PIN_MODE_LEDG,HIGH); speedmode=SPEEDMODE_NORMAL;
digitalWrite(PIN_MODE_LEDR,LOW); //Red
} }
if (speedmode==SPEEDMODE_SLOW) {
throttle_pos/=2;
}
} }
void failChecks() { void failChecks() {
@ -508,4 +520,16 @@ void updateMotorparams( MotorParameter &mp, SerialFeedback &fb) {
mp.curR_DC[mp.cur_pos] = -fb.curR_DC; mp.curR_DC[mp.cur_pos] = -fb.curR_DC;
mp.millis=loopmillis; mp.millis=loopmillis;
log_update=true; log_update=true;
}
void leds() {
digitalWrite(PIN_LED_START,(loopmillis/1000)%2 == 0); //high is on for LED_START
if (speedmode==SPEEDMODE_SLOW) {
digitalWrite(PIN_MODE_LEDG,LOW); //Green, low is on
digitalWrite(PIN_MODE_LEDR,HIGH);
}else if (speedmode==SPEEDMODE_NORMAL) {
digitalWrite(PIN_MODE_LEDG,HIGH);
digitalWrite(PIN_MODE_LEDR,LOW); //Red
}
} }