Diff: main.cpp

Revision:

3:3936d249a67c

Parent:

1:526bdd5faa37

Child:

4:6fff0b259d65

--- a/main.cpp	Tue Sep 04 02:15:49 2018 +0000
+++ b/main.cpp	Fri Sep 07 12:26:34 2018 +0000
@@ -7,8 +7,16 @@
 
 Serial command(USBTX, USBRX);
 
+#define MAXDAT 3
+#define TIPO_COMM 0
+#define NUM_MOTOR 1
+#define NUM_GRADOS 2 
 
 
+uint8_t dat[MAXDAT]={0,0,0};
+
+  
+
 int main() {
     init_servo();
     init_serial();
@@ -17,10 +25,10 @@
     uint32_t read_cc;
     while(1)
     {
-        read_cc=read_command();
-        switch (read_cc) {
+        while(read_command()==0);
+        switch (dat[TIPO_COMM]) {
             case  0x01: moving(); break;
-            default: debug_m("error de comando. \nSe espera  0xFEF0 o 0xFFF0 \n");break ;      
+            default: debug_m("error de comando. ");break ;      
         }
     }
 }
@@ -37,7 +45,15 @@
     
     while(intc != '<')
         intc=command.getc();
-    return intc;
+        
+    for (int i =0;i>MAXDAT;i++)
+        dat[i]=command.getc();
+    
+    intc=command.getc();
+    
+    while(intc != '>')
+        return 0;
+    return 1;
 }
 
 
@@ -50,9 +66,8 @@
 void moving(){
     debug_m("se inicia el comado mover..\n");    
     
-    char nmotor=command.getc();
-    char grados=command.getc();
-    char endc=command.getc();
+    char nmotor=dat[NUM_MOTOR];
+    char grados=dat[NUM_GRADOS];
     mover_ser(nmotor,grados); 
     debug_m("fin del comado guardar..\n");