Diff: main.cpp

Revision:

8:cc8fe9b9949f

Parent:

7:348c8891e542

--- a/main.cpp	Sat Nov 28 19:48:30 2015 +0000
+++ b/main.cpp	Sun Nov 29 00:03:57 2015 +0000
@@ -1,36 +1,36 @@
 // Controller code
 #pragma once
-#include "mbed.h"
+#include "mbed.h"                              
 #include "CommandPool.h"
 #include "Xbee.h"
 #include "GenCMD.h"
 #include "PinDetect.h"
 #include "Mode.h"
 
-GenCMD      gen_cmd;
-Xbee        xbee(p9,p10,p11);
-DigitalOut  led(LED1);
-Mode        mode;
-char        cmd_buffer = '\0';
+GenCMD      gen_cmd;                        // Command Generator
+Xbee        xbee(p9,p10,p11);               // Xbee
+DigitalOut  led(LED1);                      // LED
+Mode        mode;                           // Mode
+char        cmd_buffer = '\0';              // Command Buffer
 
 Serial pc(USBTX,USBRX);
 
 int main()
-{
-    gen_cmd.init();
-    xbee.Reset();
+{   
+    gen_cmd.init();                                 // Init Command Generator
+    xbee.Reset();                                   // Reset Xbee
 
     while(1)
     {
-        if(mode.on)
+        if(mode.on)                                 // If mode on
         {
-            gen_cmd.GenerateCMD(cmd_buffer);            
-            xbee.Send(cmd_buffer);
+            gen_cmd.GenerateCMD(cmd_buffer);        // Generate command based on IMU value
+            xbee.Send(cmd_buffer);                  // Send Command
             led = !led;  
         }    
         else
         {
-            xbee.Send(STOP);
+            xbee.Send(STOP);                        // If mode off, Send STOP Command
         }  
         
         wait(0.01);
@@ -43,29 +43,25 @@
 #include "mbed.h"
 #include "CommandPool.h"
 #include "Xbee.h"
-#include "GenCMD.h"
 
-Command* cmd;
-CommandPool pool;
-GenCMD gen_cmd;
-Xbee xbee(p9,p10,p11);
-DigitalOut led(LED1);
-
-char cmd_buffer='\0';
+Command* cmd;                   // Command Object
+CommandPool pool;               // Command Pool
+Xbee xbee(p9,p10,p11);          // Xbee
+DigitalOut led(LED1);           // LED
+char cmd_buffer='\0';           // Command Buffer
 
 int main()
 {
-    pool.init();
-    xbee.Reset();
+    pool.init();                // Init Command Poll
+    xbee.Reset();               // Reset Xbee
 
     while(1)
     {
-        xbee.Recv(cmd_buffer);
-        pc.printf("%i\n",cmd_buffer);
-        cmd = pool.getCommand(cmd_buffer);
-        if(cmd)
+        xbee.Recv(cmd_buffer);              // Receive command from IMU controller
+        cmd = pool.getCommand(cmd_buffer);  // Get command object from command pool 
+        if(cmd)                             // If valid
         {
-            cmd->execute();
+            cmd->execute();                 // Execute command
         }
         led = !led;
         wait(0.01);