Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

wifi.h@12:721a9ea55e91, 2018-11-03 (annotated)

Committer:
dima285
Date:
Sat Nov 03 11:43:03 2018 +0000
Revision:
12:721a9ea55e91
Parent:
9:8f98b1c277a4
Child:
13:789b451cc27d
rabotaet;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stas285 3:8e8458f45d19 1 unsigned char volatile external_command = 0;
Stas285 3:8e8458f45d19 2
Stas285 3:8e8458f45d19 3 void command_receive(){
Stas285 3:8e8458f45d19 4 external_command = wifi.getc();
Stas285 3:8e8458f45d19 5 //myled = !myled;
Stas285 3:8e8458f45d19 6 }
Stas285 3:8e8458f45d19 7
Stas285 3:8e8458f45d19 8 void command_process(){ // Interrupt !!! - transfer to main
dima285 12:721a9ea55e91 9 int command;
dima285 12:721a9ea55e91 10 int value;
dima285 12:721a9ea55e91 11 command = int(external_command/64);
dima285 12:721a9ea55e91 12 value = external_command & 0x3f;
dima285 12:721a9ea55e91 13 switch (command){
dima285 12:721a9ea55e91 14 case 0: x_prop = value; break;
dima285 12:721a9ea55e91 15 case 1: x_diff = value; break;
dima285 12:721a9ea55e91 16 case 2: balance_prop = value * 0.1; break;
dima285 12:721a9ea55e91 17 case 3: balance_diff = value * 0.1; break;
dima285 12:721a9ea55e91 18 }
dima285 12:721a9ea55e91 19
dima285 12:721a9ea55e91 20
dima285 12:721a9ea55e91 21 /*if(external_command > 0xf0){ //16 commands w/o parameters
Stas285 3:8e8458f45d19 22 switch (external_command){
Stas285 3:8e8458f45d19 23 case 0xff: {stop(); break;} //Command Stop
Stas285 3:8e8458f45d19 24 case 0xfe: {dance(10,2); break;} //Command Dance
Stas285 3:8e8458f45d19 25 }
Stas285 3:8e8458f45d19 26 }
Stas285 1:e2a6e523bf1f 27 else{
dima285 9:8f98b1c277a4 28 if (external_command < 128) k_1 = 0.05*(external_command - 10); //{speed = 2*(external_command - 20);} //Command Speed
dima285 9:8f98b1c277a4 29 else k_2 = 0.05*(external_command - 128 - 10); // {if ((external_command - 128 - 20) == 0)radius = 1e5; else radius = 100/(external_command - 128 - 20);} //Command Turn
Stas285 3:8e8458f45d19 30 stop_flag = 0; infinite_flag = 1; motor_enable = 1; motor_busy = 1;
dima285 12:721a9ea55e91 31 }*/
Stas285 3:8e8458f45d19 32 external_command = 0;
Stas285 1:e2a6e523bf1f 33 }
Stas285 1:e2a6e523bf1f 34
Stas285 0:e9488589a8ee 35 void wifi_init(){
Stas285 3:8e8458f45d19 36 wifi.attach(&command_receive);
Stas285 1:e2a6e523bf1f 37 }