![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
added serial up, down, left and right control
Dependencies: mbed
Fork of Robot_a_cables_v3_6 by
Diff: main.cpp
- Revision:
- 12:98a051edb19a
- Parent:
- 11:0fa23c2dab76
diff -r 0fa23c2dab76 -r 98a051edb19a main.cpp --- a/main.cpp Tue Jun 05 07:24:15 2018 +0000 +++ b/main.cpp Tue Jun 05 12:29:57 2018 +0000 @@ -159,10 +159,10 @@ else if(mode == NORMAL){ pc.printf("mode = n"); } - pc.printf(" x = %f", dx); - pc.printf(" y = %f", dy); - pc.printf(" VM_L = %f", pVx); - pc.printf(" VM_R = %f \r\n", pVy); + pc.printf(" x = %d", (int)dx); + pc.printf(" y = %d", (int)dy); + pc.printf(" VM_L = %d", (int)pVx); + pc.printf(" VM_R = %d \r\n", (int)pVy); @@ -176,12 +176,6 @@ contrTraj=true; lectpc=pc.getc(); if(lectpc=='h'){ - /*for(int i=0;i!=5;i++){ - Xtraj[i]=pc.getc(); - } - for(int i=0;i!=5;i++){ - Ytraj[i]=pc.getc(); - }*/ robot.setVelocity(0.50,0.60,0.5, mode); //Motors control with the joystick and with the mode we use }; if(lectpc=='b'){ @@ -193,6 +187,16 @@ if(lectpc=='d'){ robot.setVelocity(0.40,0.50,0.5, mode); //Motors control with the joystick and with the mode we use }; + if(lectpc=='0'){ + for(int i=1;i!=5;i++){ + Xtraj[i]=pc.getc(); + } + for(int i=0;i!=5;i++){ + Ytraj[i]=pc.getc(); + } + robot.setVelocity(atof(Xtraj),atof(Ytraj),0.5,mode); + }; + }else{ robot.setVelocity(0.50,0.50,0.5,mode); contrTraj=false;