Diff: Roomba.cpp

Revision:

1:aed433d882c9

Parent:

0:32eb0835b5a3

Child:

2:144ca2f5d850

--- a/Roomba.cpp	Tue Jan 20 15:58:19 2015 +0000
+++ b/Roomba.cpp	Wed Jan 21 16:20:12 2015 +0000
@@ -23,7 +23,7 @@
  * @return true
  */
 bool Roomba::send(EventArg e) {
-    _led != _led;
+    
     Roomba::start();
     Roomba::mode(Roomba::Full);//(Roomba::Mode::Full); If write struct Mode and no name enum, Compiler say no sutable constructor conver to enum...
     Roomba::drive(e.leftWheetVelocity, e.rightWheelVelocity);
@@ -36,7 +36,7 @@
  * @param result コマンド送信結果
  */
 void Roomba::notify(bool result) {
-    if (result == false) {
+    if (result == true) {
         _led = 1;
     } else {
         _led = 0;    
@@ -52,14 +52,13 @@
 
     count = count + 1;
     
-    if (count > 100) {
+    if (count > 10) {
         if (timedOut == false) {
             timedOut = true;
             Roomba::notify(timedOut);
         }    
     }
     
-    _s.putc('1');
     Roomba::send(e);
     
 }
@@ -70,8 +69,6 @@
 void Roomba::serialReceiveCallback() {
     count = 0;
     
-    _s.putc('2');
-    
     if (timedOut) {
         timedOut = false;
         Roomba::notify(timedOut);    
@@ -94,8 +91,6 @@
  */
 bool Roomba::start() {
     
-    _s.putc('a');
-    
     _s.putc(128);
     
     return true;
@@ -109,8 +104,6 @@
  */
 bool Roomba::mode(Roomba::Mode m) {
 
-    _s.putc('b');
-    
     _s.putc(132);//Full;
     
     return true;
@@ -130,20 +123,19 @@
         && (-500 <= leftWheelVelocity && leftWheelVelocity <= 500)) {
         
         Roomba::command[0] = 145;
-        Roomba::command[1] = rightWheelVelocity & 0xFF00 >> 8;  //MSB
-        Roomba::command[2] = rightWheelVelocity & 0xFF;         //LSB
-        Roomba::command[3] = leftWheelVelocity  & 0xFF00 >> 8;  //MSB
-        Roomba::command[4] = leftWheelVelocity  & 0xFF;         //LSB
+        Roomba::command[1] = (rightWheelVelocity & 0xFF00) >> 8;  //MSB
+        Roomba::command[2] = rightWheelVelocity & 0xFF;           //LSB
+        Roomba::command[3] = (leftWheelVelocity  & 0xFF00) >> 8;  //MSB
+        Roomba::command[4] = leftWheelVelocity  & 0xFF;             //LSB
         Roomba::command[5] = '\0';
         
         for (int i = 0; Roomba::command[i] != '\0'; i++) {
-            _s.putc('c');
             _s.putc(Roomba::command[i]);
         }
-        
+        //_led = 0;
         ret = true;
     }
-    
+    //_led = 1;
     return ret;
 }