Diff: main.cpp

Revision:

0:98be52da5242

Child:

1:8b83b8a03351

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Apr 19 16:01:27 2015 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+#include "m3pi.h"
+
+Serial xbee(p28, p27);
+m3pi m3pi;
+
+void execute();
+void set_command();
+
+const char LEFT = 'A';
+const char RIGHT = 'B';
+const char STOP = 'D';
+const char FORWARD = 'E';
+const char BACKWARD = 'F';
+
+char command;
+float speed;
+
+int main() {
+    
+    command = STOP;
+    speed = 0.3;
+    m3pi.locate(0,1);
+    m3pi.printf("Hola");
+    
+    while (1) {
+        set_command();
+        m3pi.locate(0,1);
+        m3pi.printf("%c",command);
+        execute();
+        //wait(1);
+    }
+}
+
+void execute() {
+    switch (command) {
+        case LEFT:
+            m3pi.left(speed); break;
+        case RIGHT:
+            m3pi.right(speed); break;
+        case STOP:
+            m3pi.stop(); break;
+        case FORWARD:
+            m3pi.forward(speed); break;
+        case BACKWARD:
+            m3pi.backward(speed); break;
+    }
+}
+
+void set_command() {
+    if (xbee.readable()) {
+        command = xbee.getc();
+        wait(1);
+    }
+}
\ No newline at end of file