Diff: WirelessMousr.cpp

Revision:

3:b3ec75e9163f

Parent:

2:e9042e88abf1

Child:

5:dda15798ba1f

--- a/WirelessMousr.cpp	Wed Oct 08 16:59:47 2014 +0000
+++ b/WirelessMousr.cpp	Wed Oct 08 19:29:07 2014 +0000
@@ -1,6 +1,9 @@
 #include "WirelessMousr.h"
+#define INSTRUCTION 0
+#define VELOCITY 1
 
 WirelessMousr::WirelessMousr() : Mousr(), pc(p28, p27) {}
+//WirelessMousr::WirelessMousr() : Mousr(), pc(USBTX, USBRX) {}
 
 int WirelessMousr::init()
 {
@@ -11,39 +14,79 @@
 
 void WirelessMousr::rxCallback()
 {
-    char state = this->pc.getc(); // read RX character, clearing interrupt
-    pc.putc(state); // loopback
-    pc.putc(10);
+    char message = this->pc.getc(); // read RX character, clearing interrupt
+    static char oldstate;
+    char newstate;
+    float pwmval;
+    int numerator;
+    float denominator;
+    this->pc.putc(message);
+    this->pc.putc('\n');
+    newstate = message;
     
-    // state machine
-    switch(state)
-    {
-    case 'v':   //STOP
-      this->stop(); break;
-    case 'w':   //STRAIGHT
-      //pc.putc('g');
-      this->straight(getStraightSpeed()); break;
-    case 's':   //STRAIGHT SLOW
-      //pc.putc('g');
-      this->straight(getStraightSlowSpeed()); break;
-    case 'a':   //ROTATE LEFT MEDIUM
-      this->left(getRotateSpeed()); break;
-    case 'd':   //ROTATE RIGHT MEDIUM
-      this->right(getRotateSpeed()); break;
-    case 'x':   //BACKWARDS
-      this->backwards(getStraightSlowSpeed()); break;
-    case 'q':   //ROTATE LEFT FAST (CHANGE TO CIRCLE)
-      pc.putc('g');  
-      this->left(getRotateFastSpeed()); break;
-    case 'e':   //ROTATE RIGHT FAST (CHANGE TO CIRCLE) 
-      this->right(getRotateFastSpeed()); break;
-    case 'z':
-      this->left(getRotateSlowSpeed()); break;
-    case 'c':
-      this->right(getRotateSlowSpeed()); break;
-    case '1':
-      this->flipLeft(); break;
-    case '3':
-      this->flipRight(); break;
-    }
-}
\ No newline at end of file
+        
+        if ((oldstate == 'l') || (oldstate == 'r'))
+        {
+            this->pc.putc('V');
+            
+            numerator = ((int)message - 128);
+            denominator =  (float) 128;
+            pwmval = ((float) numerator) / denominator;
+            if (oldstate == 'l')
+            {         
+                 this->lefttire(pwmval);
+                 this->pc.putc('L');
+                 this->pc.putc('L');
+            }
+            else if (oldstate == 'r')
+            {
+                this->righttire(pwmval);
+                this->pc.putc('R');
+                this->pc.putc('R');
+            }
+        }
+        else
+        {
+                switch(message)
+                {
+                case 'q':   //STOP
+                    this->left90(); 
+                    this->pc.putc('L');
+                    this->pc.putc('9');
+                    this->pc.putc('0');
+                    this->pc.putc('\n');
+                    break;
+                case 'a':   //STRAIGHT
+                    this->left180(); 
+                    this->pc.putc('L');
+                    this->pc.putc('8');
+                    this->pc.putc('0');
+                    this->pc.putc('\n');
+                    break;
+                case 'e':   //STRAIGHT SLOW
+                    this->right90(); 
+                    this->pc.putc('R');
+                    this->pc.putc('9');
+                    this->pc.putc('0');
+                    this->pc.putc('\n');
+                    break;
+                case 'd':   //ROTATE LEFT MEDIUM
+                    this->right180(); 
+                    this->pc.putc('R');
+                    this->pc.putc('8');
+                    this->pc.putc('0');
+                    this->pc.putc('\n');
+                    break;
+                case 's':   //ROTATE RIGHT MEDIUM
+                  this->stop();
+                    this->pc.putc('S');
+                    this->pc.putc('T');
+                    this->pc.putc('P');
+                    this->pc.putc('\n'); break;
+                }
+        }
+   // }
+    
+    oldstate = newstate;    
+    
+}