Diff: ui.cpp

Revision:

18:db6d9fc1ebd0

Parent:

17:1184df616383

Child:

19:4fbffc755ed7

--- a/ui.cpp	Sun Mar 11 01:26:23 2018 +0000
+++ b/ui.cpp	Tue Mar 13 22:14:24 2018 +0000
@@ -35,9 +35,9 @@
 
 
 /******************************************************************************
-                           User interface 3
+                           User interface 3 Camera
 ******************************************************************************/
-void consoleUI(void){
+void consoleUIcamera(void){
 
     cameraData_mutex.lock();
     bluetooth.printf("\r\nsetpointR: %d   setpointL: %d    ObjectWidth: %d     ObjectXcoordinate: %d   SteeringError: %d   DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError);    
@@ -267,9 +267,8 @@
                            User interface 3 - manual control
 ******************************************************************************/
 
-void consoleUIManualControl(void)
+void consoleUI(void)
 {
-     
     if (bluetooth.readable()) {
         x = bluetooth.getc();
         
@@ -287,7 +286,7 @@
         // by incrementing u
         else if(x == 'w') {
             mutexSetpoint.lock();
-            Setpoint = Setpoint + 100;
+            Setpoint = 100;
             mutexSetpoint.unlock();
         
         }
@@ -296,22 +295,22 @@
         // by decrementing u
         else if(x == 's') {
             mutexSetpoint.lock();
-            Setpoint = Setpoint - 100;
+            Setpoint = -100;
             mutexSetpoint.unlock();
         
         }
 
 /******************************ROBOT STEERING**********************************/        
+        else if (x=='a')
+        {
+            mutexSetpoint.lock();
+            SteeringError = 300;
+            mutexSetpoint.unlock();
+        }
         else if (x=='d')
         {
             mutexSetpoint.lock();
-            SteeringError = SteeringError + 10;
-            mutexSetpoint.unlock();
-        }
-        else if (x=='a')
-        {
-            mutexSetpoint.lock();
-            SteeringError = SteeringError - 10;
+            SteeringError = -300;
             mutexSetpoint.unlock();
         }        
         // error wrong input
@@ -319,9 +318,11 @@
             bluetooth.printf("\r\nwrong input please enter \'w\' to increase the speed, \'s\' to reduce it or move in the opposite direction and \'r\' to reset the watchdog");
         }
     }
-    
-    // If no key is pressed stop the robot. 
-    Setpoint = 0;
-    SteeringError = 0;   
+    else{
+        // If no key is pressed stop the robot. 
+        Setpoint = 0;
+        SteeringError = 0;
+           
+    }
     
 }