Dima Dudin / Mbed 2 deprecated DD_Robot

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Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

wifi.h@15:960b922433d1, 2018-12-01 (annotated)

Committer:
Stas285
Date:
Sat Dec 01 14:25:04 2018 +0000
Revision:
15:960b922433d1
Parent:
13:789b451cc27d
Child:
22:14e85f2068c7
coord_ready

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
Stas285 15:960b922433d1 9 int command = int(external_command/64);
Stas285 15:960b922433d1 10 int value = external_command & 0x3f;
dima285 12:721a9ea55e91 11 switch (command){
Stas285 15:960b922433d1 12 case 0: target.path = (float) value/100; break; //target.x = (float) value/100; break;
Stas285 15:960b922433d1 13 case 1: radius = (float) value; break; //target.y = (float) value/100; break;
Stas285 15:960b922433d1 14 case 2: target.azimuth = (value * 6 - 180)*pi/180; break;
dima285 13:789b451cc27d 15 case 3: balance_diff = value; break;
dima285 12:721a9ea55e91 16 }
dima285 12:721a9ea55e91 17
dima285 12:721a9ea55e91 18 /*if(external_command > 0xf0){ //16 commands w/o parameters
Stas285 3:8e8458f45d19 19 switch (external_command){
Stas285 3:8e8458f45d19 20 case 0xff: {stop(); break;} //Command Stop
Stas285 3:8e8458f45d19 21 case 0xfe: {dance(10,2); break;} //Command Dance
Stas285 3:8e8458f45d19 22 }
Stas285 3:8e8458f45d19 23 }
Stas285 1:e2a6e523bf1f 24 else{
dima285 9:8f98b1c277a4 25 if (external_command < 128) k_1 = 0.05*(external_command - 10); //{speed = 2*(external_command - 20);} //Command Speed
dima285 9:8f98b1c277a4 26 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 27 stop_flag = 0; infinite_flag = 1; motor_enable = 1; motor_busy = 1;
dima285 12:721a9ea55e91 28 }*/
Stas285 3:8e8458f45d19 29 external_command = 0;
Stas285 1:e2a6e523bf1f 30 }
Stas285 1:e2a6e523bf1f 31
Stas285 0:e9488589a8ee 32 void wifi_init(){
Stas285 3:8e8458f45d19 33 wifi.attach(&command_receive);
Stas285 1:e2a6e523bf1f 34 }