BLE project for PILLAR
Dependencies: BLE_API mbed simpleBLEControl
Fork of BLE_API_DEMO by
Revision 54:52be0aeba318, committed 2014-11-28
- Comitter:
- antoniorohit
- Date:
- Fri Nov 28 08:10:25 2014 +0000
- Parent:
- 53:f503e75f0c94
- Commit message:
- Funnel + Base motor integrated positioning;
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Nov 28 05:27:43 2014 +0000 +++ b/main.cpp Fri Nov 28 08:10:25 2014 +0000 @@ -53,13 +53,47 @@ // it's used to dispatch the callbacks if(eventDataP->charHandle==writeToArduino_handler){ // The data is for the motor uint16_t bytesRead = eventDataP->len; - int turnSteps = *((int16_t *)eventDataP->data); - if(is_button_pressed){ // Hack-way to turn both motors - arduino.printf("%im\n", turnSteps); // <turn steps>m turns small motor - } - else{ - arduino.printf("%iM\n", turnSteps); // <turn steps>M turns large motor - } + // What the BLE master will tell us is which funnels to dispense from + int funnel = *((int16_t *)eventDataP->data); + switch(funnel){ + case 0: + arduino.printf("%dm", 0); + arduino.printf("%dM", 25); + arduino.printf("%dM", -25); + arduino.printf("%dm", 128); + arduino.printf("%dm", -128); + arduino.printf("%dm", -0); + break; + case 1: + arduino.printf("%dm", 128); + arduino.printf("%dM", 75); + arduino.printf("%dM", -75); + arduino.printf("%dm", 128); + arduino.printf("%dm", -128); + arduino.printf("%dm", -128); + break; + case 2: + arduino.printf("%dm", 256); + arduino.printf("%dM", 125); + arduino.printf("%dM", -125); + arduino.printf("%dm", 128); + arduino.printf("%dm", -128); + arduino.printf("%dm", -256); + break; + + case 3: + arduino.printf("%dm", 384); + arduino.printf("%dM", 175); + arduino.printf("%dM", -175); + arduino.printf("%dm", 128); + arduino.printf("%dm", -128); + arduino.printf("%dm", -384); + break; + + default: + break; + } + led1 = !led1.read(); // debug purposes } }