Reiko Randoja
/
ut_bbr_2018
Firmware for UT Robotex 2018 basketball robot
Diff: main.cpp
- Revision:
- 2:7affec1c81cb
- Parent:
- 1:a286bf92d291
- Child:
- 3:2f12dac1bcdf
diff -r a286bf92d291 -r 7affec1c81cb main.cpp --- a/main.cpp Thu Oct 11 21:26:53 2018 +0000 +++ b/main.cpp Tue Sep 17 05:11:16 2019 +0000 @@ -4,6 +4,8 @@ #include "USBSerial.h" #include "RFManager.h" +#define BUF_SIZE 32 + USBSerial serial; Serial pc(USBTX, USBRX); @@ -35,7 +37,7 @@ unsigned int pidTickerCount = 0; static const float PID_FREQ = 60; -char buf[32]; +char buf[BUF_SIZE]; int serialCount = 0; bool serialData = false; @@ -105,16 +107,22 @@ } rfModule.update(); + + while (serial.readable()) { + char c = serial.getc(); + + buf[serialCount] = c; - if (serial.readable()) { - buf[serialCount] = serial.getc(); - - if (buf[serialCount] == '\n') { + if (c == '\n') { parseCommand(buf); serialCount = 0; - memset(buf, 0, 32); + memset(buf, 0, BUF_SIZE); } else { serialCount++; + + if (serialCount == BUF_SIZE) { + serialCount = 0; + } } } }