Diff: main.cpp

Revision:

17:3c82070177e5

Parent:

16:4b502070bea8

Child:

18:9cbd70819d2d

--- a/main.cpp	Tue Sep 23 12:08:15 2014 +0000
+++ b/main.cpp	Fri Sep 26 09:26:27 2014 +0000
@@ -19,12 +19,12 @@
 #define XBEE_KEY 0xAA //keycode
 #define ARM_KEY 0xAA
 
-#define PWM 1.0
+#define PWM 0.5
 
-#define PWM_L 1.0
-#define PWM_R 1.0
-#define PWM_U 1.0
-#define PWM_D 1.0
+#define PWM_L 0.5
+#define PWM_R 0.5
+#define PWM_U 0.5
+#define PWM_D 0.5
 
 #define R 0x4
 #define L 0x1
@@ -61,9 +61,8 @@
 uint8_t check_data[1];
 
 /* Out put PC stdout function */
-
-void pc_print(){
-
+void pc_print()
+{
     static int count=0;
 
     if(count==10e3) {
@@ -74,35 +73,41 @@
     count++;
 }
 
-void connect_check(void){
+void connect_check(void)
+{
     xbee.start_read();
     xbee.read_data(check_data,XBEE_KEY);
-    
+
     while(check_data[0]!=0xCC);
     while(check_data[0]==0xCC);
+
     xbee.stop_read();
     xbee.start_write();
+
     check_data[0]=0xCC;
+
     xbee.write_data(check_data,XBEE_KEY);
+
     wait_ms(10);
+
     xbee.stop_write();
-    }
+}
 
 void stop_slowly(int count)
 {
 
     for(float i=1.0; i>=0; i-=0.1) {
-        
+
         /*for(int j=0; j>=4; j++) {
-
             pwm[j] = i;
 
         }*/
-            pwm[0] = 0.1;
-            pwm[1] = 0.1;
-            pwm[2] = 0.1;
-            pwm[3] = 0.1;
-        
+
+        pwm[0] = 0.1;
+        pwm[1] = 0.1;
+        pwm[2] = 0.1;
+        pwm[3] = 0.1;
+
         wait(count*10e-3); //count value * 0.01 sec
     }
     check = 0;
@@ -119,13 +124,11 @@
 
     xbee_packet *pt_packet=&packet;
 
-    connect_check();
-    
+    //connect_check();
+
     xbee.start_read();
     xbee.read_data(get_data,XBEE_KEY);
 
-    connect_check();
-
     int counter=0;
 
     for(;;) {
@@ -133,12 +136,10 @@
         wait_ms(1.0);
 
         //memcpy(&packet, get_data, DATA_NUM);
-
         packet.arm[0] = get_data[1];
         packet.leg = get_data[0];
 
         //check = get_data[1];
-
         armMbed.write_data(pt_packet->arm,ARM_KEY);
 
         /* Stop */