wifi.h

00001 unsigned char volatile external_command = 0;
00002 
00003 void command_receive(){
00004     external_command = wifi.getc();
00005     //myled = !myled;
00006     } 
00007 
00008 void command_process(){             // Interrupt !!! - transfer to main
00009     int command = int(external_command/64);
00010     int value = external_command & 0x3f;
00011     switch (command){
00012         case 0: x_prop = value * 10; break; //target.x = (float) value/100; break;
00013         case 1: x_diff = value * 10; break; //target.y = (float) value/100; break;
00014         case 2: balance_prop = value / 10; break;
00015         case 3: balance_diff = value; break; 
00016         }
00017 
00018     /*if(external_command > 0xf0){                   //16 commands w/o parameters
00019         switch (external_command){
00020             case 0xff: {stop(); break;}      //Command Stop
00021             case 0xfe: {dance(10,2); break;} //Command Dance
00022             }
00023         }
00024     else{
00025         if (external_command < 128) k_1 = 0.05*(external_command - 10); //{speed = 2*(external_command - 20);} //Command Speed 
00026         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 
00027         stop_flag = 0; infinite_flag = 1; motor_enable = 1; motor_busy = 1;
00028         }*/
00029     external_command = 0;
00030     }
00031 
00032 void wifi_init(){
00033     wifi.attach(&command_receive);
00034     }