Diff: main.cpp

Revision:

23:902c3086394e

Parent:

22:9cf274ffe1de

Child:

24:c1b1b0ea0cb9

--- a/main.cpp	Fri Mar 20 15:49:31 2015 +0000
+++ b/main.cpp	Sat Mar 21 13:08:53 2015 +0000
@@ -112,14 +112,14 @@
    
 //motors.start();
     
-//    setup_counter(1000, 0);
-//    float frequency = measure_frequency(CHANNEL_1);
-//    measureTimer.start();
-//    driveMode = REGULAR; //initialise drivemoder
-//    sensor_initialise(); // initialise sensor values
-//    wait(1); //give time to set up the system
-//    
-//    sensorTimer.start(); // start timer for sensors
+   // setup_counter(1000, 0);
+   // float frequency = measure_frequency(CHANNEL_1);
+    measureTimer.start();
+    driveMode = REGULAR; //initialise drivemoder
+    sensor_initialise(); // initialise sensor values
+    wait(1); //give time to set up the system
+    
+    sensorTimer.start(); // start timer for sensors
     float normalSpeed = 0.01f;
 //    HC06.baud(9600);
 //    HC06.printf("working..");
@@ -131,27 +131,27 @@
 //    
 //    wait(3);
     while(1){
-        
+        if (pc.getc() == 'r') {
         measureSensors();
         //measureTimer.reset();
         printBluetooth();
         //passedTime1 = measureTimer.read_ms();
-        if (sensorsCheckSum == 0) {
-            motors.setSpeed(normalSpeed);
-            }
-        else if (sensorsCheckSum == 1 || sensorsCheckSum == 9 || sensorsCheckSum == 10 || sensorsCheckSum == 14 || sensorsCheckSum==26){
-            motors.setLeftSpeed(normalSpeed/2);
-            
-            motors.setRightSpeed(normalSpeed*6);
+        //if (sensorsCheckSum == 0) {
+//            motors.setSpeed(normalSpeed);
+//            }
+//        else if (sensorsCheckSum == 1 || sensorsCheckSum == 9 || sensorsCheckSum == 10 || sensorsCheckSum == 14 || sensorsCheckSum==26){
+//            motors.setLeftSpeed(normalSpeed/2);
+//            
+//            motors.setRightSpeed(normalSpeed*6);
+//        }
+//        else if (sensorsCheckSum == 4 && sensorsCheckSum ==16 || sensorsCheckSum == 20 || sensorsCheckSum ==21 ||sensorsCheckSum== 29) {
+//            motors.setRightSpeed(normalSpeed/2);
+//            motors.setLeftSpeed(normalSpeed*9);
+//        }
+//        else {
+//            motors.setSpeed(normalSpeed);
+//        }
         }
-        else if (sensorsCheckSum == 4 && sensorsCheckSum ==16 || sensorsCheckSum == 20 || sensorsCheckSum ==21 ||sensorsCheckSum== 29) {
-            motors.setRightSpeed(normalSpeed/2);
-            motors.setLeftSpeed(normalSpeed*9);
-        }
-        else {
-            motors.setSpeed(normalSpeed);
-        }
-        
     }
 //HC06.printf("AT");
 //HC06.printf("AT+PIN5555");