Yosuke Kirihata
/
Nucleo_CaitSith_Firmware_added_delayServo
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Fork of
Nucleo_CaitSith_Firmware
by 
Yosuke Kirihata
Diff: main.cpp
- Revision:
- 8:857b3285dc79
- Parent:
- 7:3fcb0d1c41aa
--- a/main.cpp Sat Mar 07 15:49:55 2015 +0000
+++ b/main.cpp Sat Mar 07 17:46:56 2015 +0000
@@ -100,29 +100,62 @@
//ルンバ移動指示
case 'M'://CTM+500-500
ret = true;
+
+ int left = 0;
+ int right = 0;
+
+ int length = strlen(buffer);
+ pc.printf("length:%d\n", length);
+ if(buffer[3] == 'L') {
+ left = atoi(buffer + 4);
+ pc.printf("left:%d\n", left);
- char buff[4+1];
- int temp;
- int leftWheelVelocity, rightWheelVelocity;
-
- //pc.printf("Param:%s\n", before);
- strncpy(buff, buffer + 4, 4);
- buff[4] = '\0';
- pc.printf("%s\n", buff);
- leftWheelVelocity = atoi(buff);
- pc. printf("%d\n", leftWheelVelocity);
-
- //printf("Param:%s\n", before);
- strncpy(buff, buffer + 9, 4);//(char*)buffer[3+4]
- buff[4] = '\0';
- pc. printf("%s\n", buff);
- rightWheelVelocity = atoi(buff);
- pc. printf("%d\n", rightWheelVelocity);
+ int i = 4;
+ while (i < length) {
+ i++;
+ if (buffer[i] == 'R') {
+ pc.printf("find R index:%d\n", i);
+ break;
+ }
+ }
+ int right = atoi(buffer + i+1);
+ pc.printf("right:%d\n", right);
+
+ } else {
+ ret = false;
+ break;
+ }
+
+//
+// char buff[4+1];
+// int temp;
+// int leftWheelVelocity, rightWheelVelocity;
+//
+// while (buffer + i == 'R') {
+// i++;
+// }
+//
+// //pc.printf("Param:%s\n", before);
+// strncpy(buff, buffer + 4, 4);
+// buff[4] = '\0';
+// pc.printf("%s\n", buff);
+// leftWheelVelocity = atoi(buff);
+// pc. printf("%d\n", leftWheelVelocity);
+//
+// //printf("Param:%s\n", before);
+// strncpy(buff, buffer + 9, 4);//(char*)buffer[3+4]
+// buff[4] = '\0';
+// pc. printf("%s\n", buff);
+// rightWheelVelocity = atoi(buff);
+// pc. printf("%d\n", rightWheelVelocity);
//SendData::SendData *data = new SendData(leftWheelVelocity, rightWheelVelocity);
- data.wheelVelocity[0] = leftWheelVelocity;
- data.wheelVelocity[1] = rightWheelVelocity;
+ data.wheelVelocity[0] = left;//leftWheelVelocity;
+ data.wheelVelocity[1] = right;//rightWheelVelocity;
+
+ pc. printf("%d, %d\n", data.wheelVelocity[0], data.wheelVelocity[1]);
+
base.set(&data);