Yosuke Kirihata / Mbed 2 deprecated Nucleo_CaitSith_Firmware_added_delayServo

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Dependencies:   mbed

Fork of Nucleo_CaitSith_Firmware by Yosuke Kirihata

Diff: main.cpp

Revision:
7:3fcb0d1c41aa
Parent:
6:a3829299dfd5
Child:
8:857b3285dc79
--- a/main.cpp	Sat Feb 28 12:02:38 2015 +0000
+++ b/main.cpp	Sat Mar 07 15:49:55 2015 +0000
@@ -47,16 +47,19 @@
     //SendData::SendData *data = new SendData(0, 0);
     //base.set(*data);
 
+    int timecount = 0;
     while(1) {
         char buffer[BUFFER_SIZE];
         int size = serial_gets(buffer, BUFFER_SIZE);
         if (size > 0) {
             control_caitsith(buffer, size);
         }
-        //pc.printf("[%x, %x]", data.wheelVelocity[0], data.wheelVelocity[1]);
-        
-        base.periodicCallback();//ルンバへ移動指示
-        wait_ms(100);//millis
+        if (timecount >= 10000) {
+            base.periodicCallback();//ルンバへ移動指示
+            timecount = 0;
+        }
+        timecount++;
+        wait_us(10);
     }
 }
 
@@ -64,7 +67,7 @@
 //bool
 void control_caitsith(char* buffer, int size) {
 #ifdef DEBUG
-    //pc.printf("%s", buffer);
+    pc.printf("%s", buffer);
 #endif
     // コマンド判定
     if (strncmp(buffer, "CT", 2) == 0) {
@@ -277,7 +280,8 @@
       //pc.printf("%c", buffer[i]);
       
       if (buffer[i] == '\r') {
-        --i;
+        //--i;
+        break;
       }
       if (buffer[i] == '\n') {