Blink updates

HexapodCodeV4/a_presetup.ino

@@ -43,8 +43,8 @@
 
 
 //Error LED
-#define LED_RUNNING 24 //red led by Xbee
-#define LED_ERROR 12 //yellow led by Xbee
+#define LED_RUNNING 12 //red led by Xbee
+#define LED_ERROR 24 //yellow led by Xbee
 
 //UI LEDs
 #define LED_RGB_ON HIGH //On state for LEDs
@@ -55,6 +55,7 @@
 #define BUTTON_RGB_PIN 20 //the button on the indicator button
 #define BUTTON_RGB_MODE INPUT_PULLUP //pinmode for the indicator button pin
 
+
 #define ServoI2C Wire1
 
 #define NUM_LEGS 4
@@ -227,6 +228,9 @@ const int kInitialPositions [NUM_LEGS] [3] = {//x,y,z
 #define COG_X 52 // distance that the legs are in left and right of the COG (center of gravity)
 #define COG_Y 65 // distance that the legs are in front and behind the COG
 
+//Period of the status LED
+unsigned int led_running_period = 2000;
+
 //Variable used to output from functions
 uint8_t current_voltage = 0; //battery voltage in tenths
 unsigned long last_voltage_read = 0;

HexapodCodeV4/c_loop.ino

@@ -71,9 +71,19 @@ void loop() {
 #endif
 
   //Blink the running LED
-  uint8_t led_state= abs((time_1%510)-255);
-  analogWrite(LED_RUNNING,led_state);
-  analogWrite(LED_RGB_BLU,led_state);
+  //uint8_t led_state= abs((time_1%led_running_period)/(led_running_period/512)-255);
+  if (time_1%2000<1000){
+    digitalWrite(LED_RUNNING,HIGH);
+    digitalWrite(LED_RGB_BLU,HIGH);
+    digitalWrite(LED_RGB_RED,HIGH);
+    digitalWrite(LED_RGB_GRE,HIGH);
+  }
+  else{
+    digitalWrite(LED_RUNNING,LOW);
+    digitalWrite(LED_RGB_BLU,LOW);
+    digitalWrite(LED_RGB_RED,LOW);
+    digitalWrite(LED_RGB_GRE,LOW);
+  }
 
   //Handle error LED patterns
   if(error_state & B00000001){//DXL Error