WirelessMousr.cpp

00001 #include "WirelessMousr.h"
00002 
00003 WirelessMousr::WirelessMousr() : Mousr(), pc(p28, p27) {} //USE FOR BT
00004 //WirelessMousr::WirelessMousr() : Mousr(), pc(USBTX, USBRX) {} //USE FOR USB
00005 
00006 int WirelessMousr::init()
00007 {
00008     pc.attach(this,&WirelessMousr::rxCallback);
00009     wait(0.1);
00010     return 0;
00011 }
00012 
00013 void WirelessMousr::rxCallback()
00014 {
00015     char message = this->pc.getc(); // read RX character, clearing interrupt
00016     static char oldstate;
00017     char newstate;
00018     float pwmval;
00019     int numerator;
00020     float denominator;
00021     this->pc.putc(message);
00022     //this->pc.putc('\n');
00023     //this->pc.putc('\r');
00024     newstate = message;
00025     
00026         
00027         if ((oldstate == 'L') || (oldstate == 'R'))
00028         {
00029             //this->pc.putc('V');
00030             
00031             numerator = ((int)message - 50);
00032             denominator =  (float) 50;
00033             pwmval = ((float) numerator) / denominator;
00034             //pc.printf("%f \n \r",pwmval);
00035             //pc.printf("%d",message);
00036             
00037             if (oldstate == 'L')
00038             {         
00039                  this->lefttire(pwmval);
00040                  //this->pc.putc('L');
00041                  //this->pc.putc('L');
00042             }
00043             else if (oldstate == 'R')
00044             {
00045                 this->righttire(pwmval);
00046                 //this->pc.putc('R');
00047                 //this->pc.putc('R');
00048             }
00049         }
00050         else
00051         {
00052                 switch(message)
00053                 {
00054                 case 'q':   //STOP
00055                     this->left90(); 
00056                     /*this->pc.putc('L');
00057                     this->pc.putc('9');
00058                     this->pc.putc('0');
00059                     this->pc.putc('\n');*/
00060                     break;
00061                 case 'a':   //STRAIGHT
00062                     this->left180(); 
00063                   /*  this->pc.putc('L');
00064                     this->pc.putc('8');
00065                     this->pc.putc('0');
00066                     this->pc.putc('\n');*/
00067                     break;
00068                 case 'e':   //STRAIGHT SLOW
00069                     this->right90(); 
00070                  /*   this->pc.putc('R');
00071                     this->pc.putc('9');
00072                     this->pc.putc('0');
00073                     this->pc.putc('\n');*/
00074                     break;
00075                 case 'd':   //ROTATE LEFT MEDIUM
00076                     this->right180(); 
00077              /*       this->pc.putc('R');
00078                     this->pc.putc('8');
00079                     this->pc.putc('0');
00080                     this->pc.putc('\n');*/
00081                     break;
00082                 case 's':   //ROTATE RIGHT MEDIUM
00083                   this->stop();
00084                /*     this->pc.putc('S');
00085                     this->pc.putc('T');
00086                     this->pc.putc('P');
00087                     this->pc.putc('\n'); break;*/
00088                 }
00089         }
00090     oldstate = newstate;    
00091 }