svoe
Dependencies: mbed mbed-STM32F103C8T6 MPU6050_1
wifi.h
- Committer:
- Stas285
- Date:
- 2018-12-01
- Revision:
- 15:960b922433d1
- Parent:
- 13:789b451cc27d
- Child:
- 22:14e85f2068c7
File content as of revision 15:960b922433d1:
unsigned char volatile external_command = 0; void command_receive(){ external_command = wifi.getc(); //myled = !myled; } void command_process(){ // Interrupt !!! - transfer to main int command = int(external_command/64); int value = external_command & 0x3f; switch (command){ case 0: target.path = (float) value/100; break; //target.x = (float) value/100; break; case 1: radius = (float) value; break; //target.y = (float) value/100; break; case 2: target.azimuth = (value * 6 - 180)*pi/180; break; case 3: balance_diff = value; 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 } } else{ 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; } void wifi_init(){ wifi.attach(&command_receive); }