Diff: ReceiverIR.cpp

Revision:

13:5e445169cf83

Parent:

12:96209c979a7f

Child:

14:2fafd2e7dea8

--- a/ReceiverIR.cpp	Wed Jun 05 04:49:42 2019 +0000
+++ b/ReceiverIR.cpp	Wed Jun 05 13:56:09 2019 +0000
@@ -18,9 +18,11 @@
     evt.rise(this, &ReceiverIR::isr_rise);
     evt.mode(PullUp);
     ticker.attach_us(this, &ReceiverIR::isr_wdt, 10 * 1000);    
-    Speed_L = 0.09 ;
+    Speed_L = 0.35 ;
     //Speed_R = _speed *1.005;
-    Speed_R = 0.085 ;
+    Speed_R = 0.345 ;
+    init_sp_l = Speed_L;
+    init_sp_r = Speed_R;
 }
  
 /**
@@ -93,68 +95,85 @@
     }
     // left
     if(!strncmp(buffer, "00FF08F7",8)){
-        //pc.printf("left!\r\n");       
-        start = 1;
+        //pc.printf("left!\r\n"); 
+        left();      
     }
     // right
     if(!strncmp(buffer, "00FF5AA5",8)){
-        //pc.printf("right!\r\n");       
-        right();
+        //pc.printf("right!\r\n");
+        right();       
     }
     // stop
     if(!strncmp(buffer, "00FF0CF3",8)){
-        speedup_l(1);
+        speedup_l();
     }   
     if(!strncmp(buffer, "00FF5EA1",8)){
-        speedup_r(1);
+        speedup_r();
     }   
     if(!strncmp(buffer, "00FF42BD",8)){
-        speeddown_l(1);
+        speeddown_l();
     }   
     if(!strncmp(buffer, "00FF4AB5",8)){
-        speeddown_r(1);
+        speeddown_r();
     }   
     if(!strncmp(buffer, "00FF1CE3",8)){
-//        pc.printf("stop!\r\n");       
         stop();
+    }
+    if(!strncmp(buffer, "00FF45BA", 8)){
+        cal_start = 1;        
+    }
+    if(!strncmp(buffer, "00FF47B8", 8)){
+        cal_stop = 1;
     }       
 }
 
-void ReceiverIR::speedup_l(int weight){
-    Speed_L += 0.0003*weight; 
-    if(Speed_L > 0.5){
-        Speed_L = 0.5;
-    }
-    pwma = Speed_L;
+void ReceiverIR::speedup_l(void){
+    //Speed_L += 0.0005; 
+//    if(Speed_L > 0.5){
+//        Speed_L = 0.5;
+//    }
+//    pwma = Speed_L;
+    kp += 0.5;
 }
-void ReceiverIR::speeddown_l(int weight){
-    Speed_L -= 0.0003*weight;
-    if(Speed_L < 0){
-        Speed_L = 0;
-    }
-    pwma = Speed_L;
+void ReceiverIR::speeddown_l(void){
+    //Speed_L -= 0.0005;
+//    if(Speed_L < 0){
+//        Speed_L = 0;
+//    }
+//    pwma = Speed_L;
+    kp -= 0.5;
 }
-void ReceiverIR::speedup_r(int weight){
-    Speed_R += 0.0003*weight; 
-    if(Speed_R > 0.5){
-        Speed_R = 0.5;
-    }
-    pwmb = Speed_R;
+void ReceiverIR::speedup_r(void){
+   // Speed_R += 0.0005; 
+//    if(Speed_R > 0.5){
+//        Speed_R = 0.5;
+//    }
+//    pwmb = Speed_R;
+    max += 5;
 }
-void ReceiverIR::speeddown_r(int weight){
-    Speed_R -= 0.0003*weight;
-    if(Speed_R < 0){
-        Speed_R = 0;
-    }
-    pwmb = Speed_R;
+void ReceiverIR::speeddown_r(void){
+//    Speed_R -= 0.0005;
+//    if(Speed_R < 0){
+//        Speed_R = 0;
+//    }
+//    pwmb = Speed_R;
+    max -= 5;
 }
 
 void ReceiverIR::speed_l(float sp_l){
     Speed_L = sp_l;
+    if(Speed_L > 0.6){
+        Speed_L = 0.6;
+    }
+    pwma = Speed_L;
 }
 
 void ReceiverIR::speed_r(float sp_r){
     Speed_R = sp_r;
+    if(Speed_R > 0.6){
+        Speed_R = 0.6;
+    }
+    pwmb = Speed_R;
 }
 
 void ReceiverIR::forward(void){