Aleksandar Kodzhabashev / Mbed 2 deprecated TrackballQuery

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Dependencies:   Servo mbed

Diff: main.cpp

Revision:
3:eb3c3c9587d7
Parent:
2:e35627187804
Child:
4:73f9fd797965
--- a/main.cpp	Mon Oct 28 10:28:21 2013 +0000
+++ b/main.cpp	Mon Oct 28 11:46:30 2013 +0000
@@ -83,20 +83,24 @@
 
         //TODO: check for overflow
         if ((1 << 6) & bytes[0]) {
-            printf("Overflow x!\n\r");
+            //printf("Overflow x!\n\r");
+            bytenum = -1;
         }
-        if ((1 << 7) & bytes[0]) {
-            printf("Overflow y!\n\r");
-            printf("Byte1 is %d\n\r", bytes[0]);
+        else if ((1 << 7) & bytes[0]) {
+            //printf("Overflow y!\n\r");
+            //printf("Byte1 is %d\n\r", bytes[0]);
+            bytenum = -1;   
         }
         // check x and y signs
-        int x = bytes[1] - ((bytes[0] << 4) & 0x100);
-        int y = bytes[2] - ((bytes[0] << 3) & 0x100);
-        //printf("%s: x = %d   y = %d\n\r", id, x, y);
-        sensorXs[ind] = x;
-        sensorYs[ind] = y;
-        sensorToPrint[ind] = true;
-        bytenum = -1;
+        else {
+            int x = bytes[1] - ((bytes[0] << 4) & 0x100);
+            int y = bytes[2] - ((bytes[0] << 3) & 0x100);
+            //printf("%s: x = %d   y = %d\n\r", id, x, y);
+            sensorXs[ind] = x;
+            sensorYs[ind] = y;
+            sensorToPrint[ind] = true;
+            bytenum = -1;
+        }
     }
     return (bytenum + 1) % 3;
 }