Diff: recoge_manzanas.cpp

Revision:

5:f8ca9f670abe

Parent:

4:3426b2472f99

diff -r 3426b2472f99 -r f8ca9f670abe recoge_manzanas.cpp
--- a/recoge_manzanas.cpp	Mon Nov 19 06:25:35 2018 +0000
+++ b/recoge_manzanas.cpp	Thu Nov 22 09:00:51 2018 +0000
@@ -1,7 +1,7 @@
 // Read from I2C slave at address 0x62
 
 #include "mbed.h"
-
+#include "Ticker.h"
 #include "MPU6050.h"
 
 Serial command(USBTX,USBRX);        //habilitar la comunicacion serial a traves del puerto usb.
@@ -37,38 +37,24 @@
 //--------------------------------------------------
 //-------------------TICKER------------------------
 //--------------------------------------------------  
-void attime() {
+void attime() 
+{
     blink();
-    //boton();
-    }; 
+    boton();
+}; 
 
 //--------------------------------------------------
 //-------------------BOTON------------------------
 //--------------------------------------------------  
 void boton()
 {
-  int x=0;
-  while(1) 
-  {
-    if (pulsador == 1) 
-          x=0;
-    else
+    if (pulsador == 0) 
         {
-            command.printf("Button pressed %d\n", x);
-            x++;
-            if(x>20)
-                {
-                    for(int i=0; i<5;i++)
-                    {
-                    //led = !led; // Toggle the LED state
-                    _boton=!_boton;
-                    wait(0.2);
-                    }
-                x=0;
-                }
+            command.printf("Button pressed %b\n", _boton);
+            _boton=!_boton;
         }
-  }
 }  
+
 //--------------------------------------------------
 //-------------------SPI------------------------
 //--------------------------------------------------   
@@ -150,6 +136,7 @@
     sendSPI(fil,0);
         if(fil==fila)
                 sendSPI(fila,columna);
+                wait(0.05);
     }
 
 //--------------------------------------------------
@@ -250,7 +237,7 @@
 //-------------------------------------------------- 
 int velocidad(float _acc[3])
 {
-    int vel,x=3,y=5; //
+    int vel,x=1,y=2; //
     int acc[3];
         acc[0]=(int)_acc[0];
         acc[1]=(int)_acc[1];
@@ -279,12 +266,10 @@
     float _acc[3];     
     //command.printf("Accelerometer: \t X= %f, \t Y= %f, \t Z=%f \n", acc[0],acc[1],acc[2]);
     //command.printf("Gyroscope: \t X= %f, \t Y= %f, \t Z=%f \n", gyro[0],gyro[1],gyro[2]);
-       if(_boton==0) 
+       if(_boton==1) 
         {
             x=((int)(in1.read()*-650))+13;
             y=((int)(in2.read()*-650))+13;
-            //x=-x;
-            //y=-y;
             acc[0]=x;
             acc[1]=y;
             command.printf("Joystick: \t X= %d, \t Y= %d, \n", x,y); 
@@ -369,7 +354,7 @@
 int main ()
 {
     int guarda_linea,x=0;
-    timer.attach(&attime, 0.3);
+    timer.attach(&attime, 0.1);
     test();
     borrar();
     sendSPI(fila,columna);