Diff: robot.cpp

Revision:

3:3e3314102e56

Parent:

2:37a19a9e5f2c

Child:

4:0eeea5f05e28

--- a/robot.cpp	Sun Oct 12 13:33:06 2014 +0000
+++ b/robot.cpp	Sun Oct 12 23:27:33 2014 +0000
@@ -71,6 +71,8 @@
 int Encoder_y=0;
 int dtheta=0;
 int software_interuupt;
+int Rmotor_speed=0;
+int Lmotor_speed=0;
 int r_time ()
 {
     int mseconds = (int)time(NULL)+(int)t.read_ms();
@@ -84,10 +86,17 @@
     myled = 0;
     wait_ms(500);
     bt.baud(BaudRate_bt);
-    myled = 1;
     accelgyro.initialize();
     t.start();
-    SRX = 0;
+    SRX = 1;
+    wait_us(30);
+    SRX=0;
+    wait_ms(300);
+    SRX = 1;
+    wait_us(30);
+    SRX=0;
+    wait(1);
+    myled = 1;
 }
 
 //*********************************MOTORS*********************************//
@@ -245,6 +254,12 @@
         dx=delta_x+dx;
         dy=delta_y+dy;
         dtheta=delta_thetha*180/M_PI;
+        //bt.lock();
+        //bt.printf(">>D;%0.2lf;%0.2lf;%0.2lf;%0.2lf;%d;%d;%d;\r\n",
+        //    left_current_reading,right_current_reading,left_change ,right_change,\
+        //   dx,dy,\
+        //  dtheta);
+        //bt.unlock();
         stdio_mutex.unlock();
         Thread:: wait(50);
     }