Diff: wifi.h

Revision:

12:721a9ea55e91

Parent:

9:8f98b1c277a4

Child:

13:789b451cc27d

--- a/wifi.h	Sun Oct 14 07:53:07 2018 +0000
+++ b/wifi.h	Sat Nov 03 11:43:03 2018 +0000
@@ -6,7 +6,19 @@
     } 
 
 void command_process(){             // Interrupt !!! - transfer to main
-    if(external_command > 0xf0){                   //16 commands w/o parameters
+    int command;
+    int value;
+    command = int(external_command/64);
+    value = external_command & 0x3f;
+    switch (command){
+        case 0: x_prop = value; break;
+        case 1: x_diff = value; break;
+        case 2: balance_prop = value * 0.1; break;
+        case 3: balance_diff = value * 0.1; break; 
+        }
+    
+
+    /*if(external_command > 0xf0){                   //16 commands w/o parameters
         switch (external_command){
             case 0xff: {stop(); break;}      //Command Stop
             case 0xfe: {dance(10,2); break;} //Command Dance
@@ -16,7 +28,7 @@
         if (external_command < 128) k_1 = 0.05*(external_command - 10); //{speed = 2*(external_command - 20);} //Command Speed 
         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 
         stop_flag = 0; infinite_flag = 1; motor_enable = 1; motor_busy = 1;
-        }
+        }*/
     external_command = 0;
     }