David Eisner
Wii Nunchuk via RFM69HW to Duplo 9203 Remote Control Car Kit using ARM mbed on a FRDM-KL25Z
Dependencies: CRC FastPWM RFM69 USBDevice WakeUp WiiChuk_compat mbed-rtos mbed tlc59108
Fork of
wiiNunchuk_compat
by 
Greg Brush
Diff: main.cpp
- Revision:
- 27:c559bfe67109
- Parent:
- 26:ddfb293f4606
--- a/main.cpp Wed Jan 04 07:05:03 2017 +0000
+++ b/main.cpp Wed Aug 02 15:17:17 2017 +0000
@@ -541,29 +541,7 @@
#endif
#ifdef TARGET_KL25Z
indicators = 0;
- if (R > 2) {
- switch(direction) {
- // left
- case 0: //XR(); break;
- case 6: //XF(); break;
- case 7: //RF(); break;
- indicators = 2; break;
- // right
- case 2: //RX(); break;
- case 3: //FR(); break;
- case 4: //FX(); break;
- indicators = 1; break;
- // neither
- case 1: //RR(); break;
- case 5: //FF(); break;
- break;
- }
- }
- if (R < 20) {
- if (!central) {
- pc.printf("central\r\n");
- central = true;
- }
+ if (R <= 0.1) {
double twitch = pow(n->aX - next->aX, 2.0) + pow(n->aY - next->aY, 2.0) + pow(n->aZ - next->aZ, 2.0);
#if DEBUG > 1
pc.printf("twitch %f\r\n", twitch);
@@ -583,16 +561,39 @@
central_time_trip = 0;
}
} else {
+ switch(direction) {
+ // left
+ case 0: //XR(); break;
+ case 6: //XF(); break;
+ case 7: //RF(); break;
+ indicators = 2; break;
+ // right
+ case 2: //RX(); break;
+ case 3: //FR(); break;
+ case 4: //FX(); break;
+ indicators = 1; break;
+ // neither
+ case 1: //RR(); break;
+ case 5: //FF(); break;
+ break;
+ }
#if DEBUG
snprintf(wake, 100, "Wake for R %f\r\n", R);
pc.printf(wake);
radio.send(GATEWAY_ID, (const void*)wake, 100, false);
#endif
- central_time.reset();
- central_time_trip = 0;
- if (central) {
- pc.printf("go %s\r\n", directions[direction]);
- central = false;
+ if (R < 40) {
+ if (!central) {
+ pc.printf("central\r\n");
+ central = true;
+ }
+ } else {
+ central_time.reset();
+ central_time_trip = 0;
+ if (central) {
+ pc.printf("go %s\r\n", directions[direction]);
+ central = false;
+ }
}
R = R/20000;
float pal[8][3] = {