Diff: main.cpp

Revision:

11:8d71a1e1e947

Parent:

10:e412756d0f66

--- a/main.cpp	Tue Jun 04 20:19:19 2019 +0000
+++ b/main.cpp	Fri Aug 09 17:11:40 2019 +0000
@@ -10,6 +10,8 @@
 #include "Motor.h"
 #include "Sensor.h"
 
+Serial bt(p28, p27);
+
 //Definição das variaveis para as velocidades dos motores
 float LMotor = 0;
 float RMotor = 0;
@@ -31,6 +33,10 @@
 //################################################################################
 //################################################################################
 //******************************* FUNCOES - INICIO  ******************************
+void bluetooth (float left, float right) {
+    bt.printf("%d, %.2f, %.2f, %d, %d\n\r", Get_Position(), left, right,Get_Left(),Get_Right());  
+      
+}
 
 //Funcao que inicializa a interrupcao do sensor lateral direito
 
@@ -47,7 +53,7 @@
     led4 = 0;
     #endif
     
-    END.attach(&Stop, 20.0); //Inicia END para executar a função Stop depois de 20s
+    //END.attach(&Stop, 20.0); //Inicia END para executar a função Stop depois de 20s
     
     //Loop infinito
     while (1) { // Valor correto: 17/18
@@ -64,8 +70,9 @@
             }*/
         Read_Sensors();                                 //Lê os sensores
         PID_Control(Get_Position(), &LMotor, &RMotor);  //Calcula o controle
-        Drive(LMotor, RMotor);                          //Passa os valores pro motor
-        wait(0.0035);                                   //Se não tiver delay motor fica sem controle
+        Drive(LMotor, RMotor); 
+        bluetooth(LMotor,RMotor);                         //Passa os valores pro motor
+        //wait(0.0035);                                   //Se não tiver delay motor fica sem controle
     } 
     
     /*for (i=0; i < 4200; i++) {
@@ -75,7 +82,7 @@
     }
     Stop();*/  
     
-    return 1;
+    return 0;
 }
 
 //******************************** FUNCOES - FINAL  ******************************
\ No newline at end of file