Diff: main.cpp

Revision:

5:62cd993d82a6

Parent:

4:d1e0e52f7f6b

--- a/main.cpp	Fri Jun 06 13:44:53 2014 +0000
+++ b/main.cpp	Fri Jun 06 23:47:18 2014 +0000
@@ -1,19 +1,25 @@
 //This Program is used to turn the LED ON/OFF via telent (Wifly connected)
 #include "mbed.h"
 #include "WiflyInterface.h"
-#include "Websocket.h"
 #include <string.h>
-
+ 
 #define ECHO_SERVER_PORT   7
-
-
+#define FWD 8
+#define REV 4
+#define LEFT 3
+#define RIGHT 1
+#define STOP 2
+#define STRAIGHT_WHEEL 7
+ 
+ 
 PwmOut servo(p22);
 DigitalOut dir(LED1);
-
-#define FWD 1
-#define REV 0
-
-
+BusOut motor(p5,p6,p7,p8);
+ 
+//#define FWD 1
+//#define REV 0
+ 
+ 
 /* wifly interface:
 *     - p9 and p10 are for the serial communication
 *     - p19 is for the reset pin
@@ -24,42 +30,51 @@
 */
 //apps board
 WiflyInterface wifly(p9, p10, p30, p29, "MY_WIFI", "", NONE);
-
+ 
 //pololu
 //WiflyInterface wifly(p28, p27, p26, NC, "iotlab", "42F67YxLX4AawRdcj", WPA);
-
+ 
 int main() {
     
-    char    recv[128];
-    
     wifly.init(); //Use DHCP
     printf("1\r\n");
     while (!wifly.connect());
     printf("IP Address is %s\n\r", wifly.getIPAddress());
-
+    
    TCPSocketServer server;
     
     server.bind(ECHO_SERVER_PORT);
     server.listen();
-
+ 
     printf("\nWait for new connection...\n");
     TCPSocketConnection client;
     server.accept(client);
-
+ 
     char buffer[256];
     servo.period_us(50);
+    motor = STOP;
     while (true) {
-        int n = client.receive(buffer, sizeof(buffer));
-        if (n <= 0) continue;
-        buffer[n] = 0;
-        printf("String is : %s\r\n",buffer);
-
-        client.send_all(buffer, n);
-        if (!(strcmp (buffer, "f")))
-            dir = FWD;
-        else if (!(strcmp(buffer,"r")))
-            dir = REV;
+        //if (client.available()){
+            int n = client.receive(buffer, sizeof(buffer));
+            if (n <= 0) continue;
+            buffer[n] = 0;
+            printf("String is : %s\r\n",buffer);
+ 
+            client.send_all(buffer, n);
+            if (!(strcmp (buffer, "w")))
+                motor = FWD;
+            else if (!(strcmp(buffer,"x")))
+                motor = REV;
+            else if (!(strcmp(buffer,"z")))
+                motor = STRAIGHT_WHEEL;
+            else if (!(strcmp(buffer,"d")))
+                motor = RIGHT;
+            else if (!(strcmp(buffer,"a")))
+                motor = LEFT;
+            else if (!(strcmp(buffer,"s")))
+                motor = STOP;
+        //}
         servo.pulsewidth_us(10);
         wait_us(1);
     }
-}
\ No newline at end of file
+}