Revision 1:efcead3fb5eb, committed 2018-11-14

Comitter:

jiuk

Date:

Wed Nov 14 22:10:24 2018 +0000

Parent:

0:2dabb9782f24

Commit message:

Funcional

Changed in this revision

--- a/recoge_manzanas.cpp	Fri Nov 09 12:49:54 2018 +0000
+++ b/recoge_manzanas.cpp	Wed Nov 14 22:10:24 2018 +0000
@@ -109,6 +109,10 @@
             fila=MIN;
             sendSPI(fila-1,0);
         break;  
+        
+        case 0:
+        fila;
+        break; 
         }
     }
 
@@ -122,29 +126,7 @@
   //command.printf("Gyroscope: \t X= %f, \t Y= %f, \t Z=%f \n", gyro[0],gyro[1],gyro[2]);
  
     wait(DEL);
-     /*
-    char t=1;    
-    while (t==1 && command.readable()==0){ 
-        wait_ms(0.1);
-        t=0;
-        }
-    if (command.readable()){
-        if(acc[0]<4)   
-        correr=28;
-        if(acc[0]<-4)
-        correr=29;
-        if(acc[1]<4)   
-        correr=30;
-        if(acc[1]<-4)
-        correr=31;
-        
-        //com_tar.putc(correr);
-        wait_ms(100);
-        }
 
-    
-    correr=command.getc();
-    */
     int giro=3;
         if(acc[0]>giro)         //eje x derecha
             correr=29;          
@@ -154,6 +136,8 @@
             correr=30;
         else if(acc[1]<-giro)   //eje y abajo
             correr=31;
+        else
+        correr=0; //
         revisar_mov(correr);
         //wait (DEL);
     command.printf("\n correr:\n %d",correr);