Diff: bot/bot.cpp

Revision:

52:320f910ca6ca

Parent:

50:3a7c858aa0f9

--- a/bot/bot.cpp	Mon Nov 13 17:33:30 2017 +0900
+++ b/bot/bot.cpp	Thu Nov 23 11:49:39 2017 +0900
@@ -94,7 +94,7 @@
 
   if(!pad1.getButton2(5)) {
       axis.resetOffset();
-      debugSerial.printf("Force RESeT\n\r");
+      //debugSerial.printf("Force RESeT\n\r");
   }
 
   if((beforestick >= 0.2 && pad1.getStick(0) < 0.2) || (beforestick <= -0.2 && pad1.getStick(0) > -0.2)) {
@@ -212,8 +212,8 @@
     if (!pad2.getButton2(1)) nishijoSword.move(WIND_UP_SPEED);
     if(pad2.getButton2(0) && pad2.getButton2(1))  nishijoSword.move(0);
 
-    if (!pad2.getButton2(2)) nishijo.move(-SWORD_SPEED);
-    if (!pad2.getButton2(3)) nishijo.move(SWORD_SPEED);
+    if (!pad2.getButton2(3)) nishijo.move(-SWORD_SPEED);
+    if (!pad2.getButton2(2)) nishijo.move(SWORD_SPEED);
     if(pad2.getButton2(2) && pad2.getButton2(3))  nishijo.move(0);
   } else {
     tentacle.stop();
@@ -228,14 +228,29 @@
 
 void Bot::checkConnection()
 {
-  if(receiveSuccessed1) debugSerial.printf("ON ");
-  else  debugSerial.printf("OFF ");
+  if(receiveSuccessed1 == 1) debugSerial.printf("ON ");
+  else  debugSerial.printf("%d ",receiveSuccessed1);
 
-  if(receiveSuccessed2) debugSerial.printf("ON\r\n");
-  else  debugSerial.printf("OFF\r\n");
+  if(receiveSuccessed2 == 1) debugSerial.printf("ON\r\n");
+  else  debugSerial.printf("%d\r\n",receiveSuccessed2);
 }
 
 void Bot::checkDegree()
 {
     debugSerial.printf("%f %f\r\n",plane.getRawDegree(), plane.getCalculationResult());
 }
+
+void Bot::checkPacket()
+{
+    char buf=0;
+    while(1) {
+      buf =  pad1.getc();
+      debugSerial.printf("%d %c\r\n",buf,buf);
+    }
+}
+
+void Bot::checkReceiveData()
+{
+  debugSerial.printf("%f %f %f %f\r\n",pad1.getStick(0),pad1.getStick(1),pad1.getStick(2),pad1.getStick(3));
+  debugSerial.printf("%f %f %f %f\r\n",pad2.getStick(0),pad2.getStick(1),pad2.getStick(2),pad2.getStick(3));
+}