Diff: main.cpp

Revision:

1:7198bf0747eb

Parent:

0:8ee013fa99a5

--- a/main.cpp	Tue Aug 27 19:09:49 2019 +0000
+++ b/main.cpp	Thu Nov 21 20:21:34 2019 +0000
@@ -9,13 +9,14 @@
 
 Serial bt(p28, p27);
 
-InterruptIn A (p21);
-DigitalIn B (p22);
+InterruptIn A (p29);
+DigitalIn B (p30);
 
 Ticker END;
 
 int rightCount = 0;
 int lastCount = 0;
+int aux = 0;
 
 
 void rightEncoderEvent (){
@@ -32,7 +33,7 @@
 
     int realSpeed = (rightCount - lastCount);
     lastCount = rightCount;
-    bt.printf("\n\rCount: %d ## Speed: %d",rightCount,realSpeed);
+    //bt.printf("\n\rCount: %d ## Speed: %d",rightCount,realSpeed);
         
 }
 
@@ -55,6 +56,8 @@
     pwm.write(0.0f);
     pwm1.write(0.0f);
     
+    bt.printf("Funcionando!");
+    
     while(1) { 
     
     if(bt.readable())
@@ -66,13 +69,21 @@
             if (ch == 's') { dir = 1; dir1 = 1; pwm.write((0.2*speed)); pwm1.write((0.2*speed)); wait(0.02);}
             if (ch == 'a') { dir = 0; dir1 = 1; pwm.write((0.2*speed)); pwm1.write((0.2*speed)); wait(0.02);}
             if (ch == 'd') { dir = 1; dir1 = 0; pwm.write((0.2*speed)); pwm1.write((0.2*speed)); wait(0.02);}
-            if (ch == 'r') { 
-            bt.printf("\n\rChose speed: "); 
+            if (ch == 'g') { 
+            //bt.printf("\n\rChose speed: "); 
+                //bt.printf("Entrei no Go");
             
-            while(bt.readable()) {}
-            ch =  bt.getc();
-            speed = (int)ch - 48;
-            bt.printf("\n\rActual speed: %d\n",speed);}
+                while(aux == 0) {
+                    dir = 0; dir1 = 0; pwm.write(1); pwm1.write(1); wait (0.02);
+                    ch =  bt.getc();
+                    if (ch == 'q') { bt.printf("Entrei no if pra sair do Go"); pwm.write(0); pwm1.write(0); aux = 1; }
+                }
+                bt.printf("Sai do while");
+                aux = 0;
+            
+            }
+            //speed = (int)ch - 48;
+            //bt.printf("\n\rActual speed: %d\n",speed);}
             
             //bt.printf("%c",ch);
             
@@ -104,4 +115,6 @@
         wait(0.5);*/
         
     }
+    
+    //bt.printf("Sai do while");
 }