Amaldi / Mbed 2 deprecated Amaldi_MicRobot-Rev088

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 5:b777c4f0eb63, committed 2019-07-26

Comitter:
pinofal
Date:
Fri Jul 26 07:33:36 2019 +0000
Parent:
4:19d1ac0f3ec2
Child:
6:92b0e17593e0
Commit message:
revisione ultima;

Changed in this revision

BLE-MegaPiSea_Rev3_WIP.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/BLE-MegaPiSea_Rev3_WIP.cpp	Fri Jul 26 07:19:10 2019 +0000
+++ b/BLE-MegaPiSea_Rev3_WIP.cpp	Fri Jul 26 07:33:36 2019 +0000
@@ -258,7 +258,7 @@
     //++++++++++++++++++++++++++++++++++++++++++++++++++++
     //++++++++++++++ INIZIO Ciclo Principale +++++++++++++    
     //++++++++++++++++++++++++++++++++++++++++++++++++++++
-    /*
+    
     while(true)
     {
         //Ottieni X e Y dal Joystick e trasformali in comandi per il motore Right e Left:
@@ -269,7 +269,32 @@
         //Calcola L: L= (V-W)/2
         //Scala i valori di L e R in base all'hardware.
         //invia i valori al robot.
-        
+        if(cCommandBLE != cOldCommandBLE)
+        {
+            
+            switch (cCommandBLE)
+            { 
+                case 'A':
+                {
+                    myLed = 1;
+                }; break;
+                case 'B':
+                {    
+                    myLed = 0;
+                }; break;
+                case 'C':
+                {
+                    Light = 1;
+                }; break;
+                case 'D':
+                {    
+                    Light = 0;
+                }; break;
+                default: break;
+            }
+            // pc.printf("Comando = %c \r\n", cCommandBLE); // diagnostica
+            cOldCommandBLE = cCommandBLE;
+        }
         // se ci sono stati cambiamenti nella posizione del joistick, cambia i comandi di velocità delle ruote
         if( (fX != fOldX) || (fY != fOldY))
         {
@@ -338,7 +363,7 @@
             AntOutPWB.write(float(fL/100.0)); // DutyCycle del PWM Sinistro (Anteriore)
         }
     } //while (true) Ciclo principale
-    */
+    
     //++++++++++++++++++++++++++++++++++++++++++++++++++
     //++++++++++++++ FINE Ciclo Principale +++++++++++++    
     //++++++++++++++++++++++++++++++++++++++++++++++++++
@@ -385,7 +410,7 @@
     //++++++++++++ FINE ricezione comandi BLE ++++++++++++
     */
     //++++++++++++ INIZIO Test modalità di funzionamento Motori con PWM ++++++++++++
-    
+    /*
     PostOutBI1 = 0;
     PostOutBI2 = 0;    
     AntOutBI1 = 0;
@@ -602,7 +627,7 @@
             
         }
     } // while(true) Test motore con PWM    
-    
+    */
     //++++++++++++ FINE Test Motore con PWM ++++++++++++
     
     //++++++++++++ INIZIO Test PWM tramite BLE ++++++++++++