Diff: main.cpp

Revision:

6:73e417b1c521

Parent:

5:f4c237d0bb32

Child:

7:1726c40ad774

--- a/main.cpp	Mon Feb 06 20:03:40 2017 +0000
+++ b/main.cpp	Tue Feb 07 20:02:52 2017 +0000
@@ -104,7 +104,19 @@
             if(pc.readable())
             {
                 char charIn = pc.getc();
-                if(charIn == 'g'){ end = clock(); break; }
+                if(charIn == 'g'){ 
+                    fflush(pc); // TODO: this was recently changed check to see it causes no bugs
+                    end = clock(); /* TODO: fix clock things */
+                    ZeroEncoder();
+                    velocity = 0;
+                    startcount = 0;
+                    endcount = 0;
+                    currentSensed = 0;
+                    break; 
+                } else if(isdigit(charIn)) {
+                    double abrahamsCommand = (double)(charIn - '0');
+                    pwm.write(abrahamsCommand/10.0);
+                }
             }
             wait(0.05);
         }  
@@ -129,7 +141,6 @@
                 char charIn = pc.getc();
                 if(charIn == 'r'){
                     fflush(pc); /* TODO: purge much better than this! */
-//                    green = !green;
                     break;
                 } else if(isdigit(charIn)) {
                     double abrahamsCommand = (double)(charIn - '0');