Diff: main.cpp

Revision:

6:6ce8adb328fa

Parent:

5:3eed67b60cd2

Child:

7:4e77a1ae70d1

diff -r 3eed67b60cd2 -r 6ce8adb328fa main.cpp
--- a/main.cpp	Sat Dec 07 07:21:50 2019 +0000
+++ b/main.cpp	Tue Dec 10 07:29:41 2019 +0000
@@ -3,13 +3,10 @@
 #include "math.h"
 #include "omni_wheel.h"
 #include "motorsmlap.h"
-#include "jy901.h"
 #include "SerialMultiByte.h"
 
-//JY901 jy(PB_9, PB_8); //sda, scl
-
 Serial pc(USBTX, USBRX, 115200);
-SerialMultiByte arduino(PC_10,PC_11);
+SerialMultiByte arduinocontroller(PC_10,PC_11);
 
 PwmOut beep(PA_0);
 DigitalOut led1(PA_11);
@@ -25,8 +22,9 @@
 OmniWheel omni(4);
 
 void setup(){
-        arduino.setHeaders(127,127);
-        arduino.startReceive(5);
+        arduinocontroller.setHeaders(127,127);
+        arduinocontroller.startReceive(13);
+        
         omni.wheel[0].setRadian(PII/2.0);
         omni.wheel[1].setRadian(7.0/6.0*PII);
         omni.wheel[2].setRadian(11.0/6.0*PII);
@@ -70,31 +68,30 @@
 int main() {
     setup();
     float x, y;
-    //jy.calibrateAll(50);
-    uint8_t weight[5];
+    
+    uint8_t button[13];
     while (true) {
         led2=1;
-        arduino.getData(weight);
-        for (uint8_t i = 0; i < 4; i++) {
-            pc.printf("%d",weight[i]);
+        arduinocontroller.getData(button);
+        for (uint8_t i = 0; i < 13; i++) {
+            pc.printf("%d",button[i]);
             pc.printf("\t");
         }
-
-        y = weight[0] + weight[2] - weight[1] - weight[3];
-        x = weight[0] + weight[1] - weight[2] - weight[3];
-        if(y < -50){
+        
+        if(button[0]==1){
             y = -0.5;
-        }else if(y > 50){
+        }
+        
+        if(button[1]==1){
             y = 0.5;
-        }else{
-            y = 0;
         }
-        if(x < -50){
+        
+        if(button[2]==1){
+            x = 0.5;
+        }
+        
+        if(button[3]==1){
             x = -0.5;
-        }else if(x > 50){
-            x = 0.5;
-        }else{
-            x = 0;
         }
          
         omni.computeXY(
@@ -103,22 +100,10 @@
             0,
             0,
             0
-            //(pad.getTrigger(0) - pad.getTrigger(1)) / 255.0 * 0.8
         );
         for(int i=0; i<3; i++){
             motor[i].setMotorSpeed(omni.wheel[i].getOutput()*0.8);
         }
-        if(weight[0]>40 && weight[3]>40){
-            for(int i=0; i<3; i++){
-                motor[i].setMotorSpeed(0.2);
-            }
-        }
-        
-        if(weight[1]>40 && weight[2]>40){
-            for(int i=0; i<3; i++){
-                motor[i].setMotorSpeed(-0.2);
-            }
-        }
         pc.printf("X = <%f>, Y = <%f>\r\n",x,y);
     }
 }
\ No newline at end of file