Diff: main.cpp

Revision:

10:5bdd3dfd5f59

Parent:

9:8f98b1c277a4

Child:

12:721a9ea55e91

diff -r 8f98b1c277a4 -r 5bdd3dfd5f59 main.cpp
--- a/main.cpp	Sat Sep 16 13:24:25 2017 +0000
+++ b/main.cpp	Wed Sep 05 18:25:54 2018 +0000
@@ -17,12 +17,18 @@
 //    usb_serial.printf("I am a USB serial port\r\n");
     //stop();
     gyro_x=0, gyro_y=0, gyro_angle=0, gyro_v=0, gyro_s=0;
-    play(21);
+    //play(21);
     /*go(1);
     stop();*/
-    speed = 10;radius = 1e5;
-    infinite_flag = 1;motor_busy = 1;stop_flag = 0;
-    //go(5);
+    //speed = 10;radius = 1e5;
+    //infinite_flag = 1;motor_busy = 1;stop_flag = 0;
+    
+    /*go(0.1);
+    myled = !myled ;
+    go(0.1);
+    go(-0.3);
+    go(0.4);*/
+    
     //external_command = 0xff;
 
 /*    MPU6050 gyro(PB_9,PB_8);
@@ -40,13 +46,13 @@
     pc.printf("%hhu: ",i2c.read(tmaddr,&tmdata,1));
     pc.printf("%hhu; \n",tmdata);
 */    
-    while(1){
+        while(1){
         //pc.printf("mhgc");
         while(realtime_flag == 0){}
         
         if(external_command != 0) command_process();
         //wait_ms(40); //blocking
-        gy_old = gy;
+        //gy_old = gy;
         gyro_process(); //doesn't work in interrupt
         //pc.printf("ax:%.2f",ax);
        //if (infinite_flag == 1) wifi.printf("%.4f %.2f %.2f; ",ax,gz,motor_speed[1]);