fix for new hardware (pull-up registor added)

src/main.cpp

@@ -26,7 +26,7 @@ void setup()
 
 
     // ----- Emergency Switch -----
     // ----- Emergency Switch -----
 
 
-    pinMode(PIN_EMERGENCY, INPUT_PULLUP);
+    pinMode(PIN_EMERGENCY, INPUT);
 
 
     // ----- check I2C -----
     // ----- check I2C -----
     Wire.begin();
     Wire.begin();
@@ -55,20 +55,19 @@ void setup()
     Serial.println("set speed profile");
     Serial.println("set speed profile");
 
 
     whill.speed(SPEEDMODE::RS232C, 60, 90, 160, 60, 50, 80, 60, 60, 160); // max
     whill.speed(SPEEDMODE::RS232C, 60, 90, 160, 60, 50, 80, 60, 60, 160); // max
-    delay(500);
+    delay(1000);
 
 
     Serial.println("check speed profile");
     Serial.println("check speed profile");
 
 
     whill.streaming(true, WHILL_INFO_INTERVAL_MS, DATASET::SPEED_PROFILE); // valid in next streaming phase
     whill.streaming(true, WHILL_INFO_INTERVAL_MS, DATASET::SPEED_PROFILE); // valid in next streaming phase
-    waitReply(WhillOmni::LR::L, WHILL_INFO_INTERVAL_MS + 500);
-    waitReply(WhillOmni::LR::R);
+    waitReply(WHILL_INFO_INTERVAL_MS + 1000);
 
 
     Serial.println("change streaming to sensor info");
     Serial.println("change streaming to sensor info");
 
 
     whill.streaming(true, WHILL_INFO_INTERVAL_MS, DATASET::SENSOR_INFO);
     whill.streaming(true, WHILL_INFO_INTERVAL_MS, DATASET::SENSOR_INFO);
-    delay(500);
+    delay(1000);
 
 
-    attachInterrupt(digitalPinToInterrupt(PIN_EMERGENCY), disableMotor, FALLING);
+    attachInterrupt(digitalPinToInterrupt(PIN_EMERGENCY), disableMotor, RISING);
 
 
     Serial.println("start program");
     Serial.println("start program");
     fps.start();
     fps.start();