GDP 4 / Mbed 2 deprecated pid-car-example

car using PID from centre line

Dependencies:   FRDM-TFC mbed CBuffer XBEE mbed_angular_speed motor2 MMA8451Q

Fork of KL25Z_Camera_Test by GDP 4

Diff: main.cpp

Revision:
11:53de69b1840b
Parent:
10:1bd0224093e4
Child:
12:da96e2f87465
--- a/main.cpp	Wed Nov 16 16:31:46 2016 +0000
+++ b/main.cpp	Mon Nov 21 16:57:53 2016 +0000
@@ -169,11 +169,29 @@
             pc.putc((int8_t)(TFC_LineScanImage0[i] >> 4) & 0xFF);    
         }
         
+
+    }
+    frame_counter++;
+    
         wL=Get_Speed(Time_L);
         wR=Get_Speed(Time_R);
-        sendString("wL = %f, wR = %f",wL,wR);
-    }
-    frame_counter++;
+        
+        union {
+            float a;
+            unsigned char bytes[4];
+        } thing;
+        
+        pc.putc('B');
+        thing.a = wL;
+        pc.putc(thing.bytes[0]);
+        pc.putc(thing.bytes[1]);
+        pc.putc(thing.bytes[2]);
+        pc.putc(thing.bytes[3]);
+        thing.a = wR;
+        pc.putc(thing.bytes[0]);
+        pc.putc(thing.bytes[1]);
+        pc.putc(thing.bytes[2]);
+        pc.putc(thing.bytes[3]);
 }
 
 inline void handleComms() {