C++ Library for the PsiSwarm Robot - Version 0.8
Dependents: PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk
Fork of PsiSwarmV7_CPP by
Diff: serial.cpp
- Revision:
- 8:6c92789d5f87
- Parent:
- 6:b340a527add9
- Child:
- 9:dde9e21030eb
--- a/serial.cpp Sun Oct 16 11:11:21 2016 +0000 +++ b/serial.cpp Sun Oct 16 12:54:33 2016 +0000 @@ -273,7 +273,7 @@ sprintf(subcommand,"%1.5f",dec); if(allow_commands) { command_status = 1; - set_left_motor_speed(dec); + motors.set_left_motor_speed(dec); } else command_status = 2; break; case 2: @@ -281,7 +281,7 @@ dec = IF_decode_float(message[1],message[2]); sprintf(subcommand,"%1.5f",dec); if(allow_commands) { - set_right_motor_speed(dec); + motors.set_right_motor_speed(dec); command_status = 1; } else command_status = 2; break; @@ -291,7 +291,7 @@ sprintf(subcommand,"%1.5f",dec); if(allow_commands) { command_status = 1; - forward(dec); + motors.forward(dec); } else command_status = 2; break; case 4: @@ -299,7 +299,7 @@ sprintf(subcommand,""); if(allow_commands) { command_status = 1; - brake_left_motor(); + motors.brake_left_motor(); } else command_status = 2; break; case 5: @@ -307,7 +307,7 @@ sprintf(subcommand,""); if(allow_commands) { command_status = 1; - brake_right_motor(); + motors.brake_right_motor(); } else command_status = 2; break; case 6: @@ -315,7 +315,7 @@ sprintf(subcommand,""); if(allow_commands) { command_status = 1; - brake(); + motors.brake(); } else command_status = 2; break; case 7: @@ -323,7 +323,7 @@ sprintf(subcommand,""); if(allow_commands) { command_status = 1; - stop(); + motors.stop(); } else command_status = 2; break; case 8: @@ -332,7 +332,7 @@ sprintf(subcommand,"%1.5f",dec); if(allow_commands) { command_status = 1; - turn(dec); + motors.turn(dec); } else command_status = 2; break; case 9: @@ -342,8 +342,8 @@ sprintf(subcommand,"L=%1.3f R=%1.3f",l_dec,r_dec); if(allow_commands) { command_status = 1; - set_left_motor_speed(l_dec); - set_right_motor_speed(r_dec); + motors.set_left_motor_speed(l_dec); + motors.set_right_motor_speed(r_dec); } else command_status = 2; break; // LED COMMANDS