Diff: main.cpp

Revision:

5:7fa3a2a2f603

Parent:

4:4b9d96e6c509

diff -r 4b9d96e6c509 -r 7fa3a2a2f603 main.cpp
--- a/main.cpp	Mon Mar 04 16:05:02 2019 +0000
+++ b/main.cpp	Mon Mar 04 16:41:34 2019 +0000
@@ -5,19 +5,20 @@
 Serial pc(SERIAL_TX, SERIAL_RX);
 
 int main() {
+    float odomX, odomY, odomTheta;
     pc.baud(115200);
-    init_radio(&pc);
+    init_communication(&pc);
     
     while(1) {
-        //getCountsAndReset(); // Call getCountsAndReset() to read the values of encoders
+        getCountsAndReset(); // Call getCountsAndReset() to read the values of encoders
                              // and reset them. The values become available on variables
                              // "countsLeft" and "countsRight".
         
         // setSpeeds(20, 50); // Uncomment to set a speed of 20 for the
                               // left motor and 50 for the right motor.
         
-        pc.printf("Encoders: Left=%d   Right=%d\n", countsLeft, countsRight);
-        send_odometry(1333, 2889, 3.286, 4.23, 54.29);
+        pc.printf("ASCII message - Left=%d   Right=%d\n", countsLeft, countsRight);
+        send_odometry(1, 2, countsLeft, countsRight, odomX, odomY, odomTheta);
         wait(0.5); // Delay of 0.5 seconds.
     }
 }
\ No newline at end of file