Diff: Android.cpp

Revision:

1:accdaa84fe8d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Android.cpp	Mon Apr 28 16:06:32 2014 +0000
@@ -0,0 +1,75 @@
+#include "mbed.h"
+
+extern Serial rob;
+extern DigitalOut led1, led2, led3, led4;
+
+Serial bt(p9, p10);  // tx, rx
+DigitalIn d11(p11),d12(p12),d15(p15),d16(p16);
+DigitalOut out(p18);
+extern AnalogIn ir;
+
+char c;
+int dir;
+char garbage;
+float y;
+char stringIn[128];
+int valout;
+int maxVel = 50;
+int maxVelb = -maxVel;
+int i=0;
+
+extern time_t lastReportTime;
+
+int RunAndroid()
+{
+    bt.baud(19200);  
+    while(1)
+    {
+        if(bt.readable())
+        {
+            i = 0;
+            while((c=bt.getc()) != '\0')
+                stringIn[i++] = c;
+
+            stringIn[i]=0;
+            if(stringIn[0] == 'X')
+                sscanf(stringIn,"%s %d %f",&garbage, &dir,&y);  
+
+            if (abs(y) >= 500) 
+                valout = -floor((2*(abs(y)-500)/1000)*maxVel);
+            else
+                valout = maxVel- floor((2*abs(y)/1000)*maxVel);
+                
+            bool wall = ir.read() > (2.0 / 3.3);
+                led4 = wall;
+
+            if (wall && dir == 1)
+                rob.printf("stop\r");
+            else if(dir == 1)
+            {
+                if (y <= 0)
+                    rob.printf("mogo 1:%d 2:%d\r",maxVel, valout);
+
+                else if (y>0)
+                    rob.printf("mogo 1:%d 2:%d\r",valout,maxVel);
+
+            }
+            else if(dir == -1)
+            {
+                valout = -valout;
+
+                if (y <= 0)
+                    rob.printf("mogo 1:%d 2:%d\r",-maxVel, valout);
+
+                else if (y>0)
+                    rob.printf("mogo 1:%d 2:%d\r",valout,-maxVel);
+
+            }  
+            else
+                rob.printf("stop\r");
+
+            lastReportTime = time(NULL);
+            led3 = 0;
+        }
+    }
+}