Diff: main.cpp

Revision:

1:1bea5dcd4d6f

Parent:

0:4a46db9b1f3e

Child:

2:aae3b2c0881c

--- a/main.cpp	Tue Dec 01 18:01:13 2015 +0000
+++ b/main.cpp	Wed Dec 02 23:15:39 2015 +0000
@@ -38,21 +38,21 @@
 
 void decodeInstruction(char instruction){
     switch (instruction){
-        case 'F':
-        case 'f':
-            setSpeed(MAXVEL, MAXVEL);
+        case 'G':
+        case 'g':
+            setSpeed(MAXVEL, -MAXVEL);
             break;
         case 'A':
         case 'a':
-            setSpeed(-MAXVEL, MAXVEL);
+            setSpeed(-MAXVEL, -MAXVEL);
             break;
         case 'S':
         case 's':
-            setSpeed(-MAXVEL, -MAXVEL);
+            setSpeed(-MAXVEL, MAXVEL);
             break;
         case 'D':
         case 'd':
-            setSpeed(MAXVEL, -MAXVEL);
+            setSpeed(+MAXVEL, +MAXVEL);
             break;
         case 'Q':
         case 'q':
@@ -66,8 +66,8 @@
         case 'l':
             moveServo(-SERINC);
             break;
-        case 'G':
-        case 'g':
+        case 'W':
+        case 'w':
             redLed(1);
             break;
         case 'H':
@@ -78,9 +78,9 @@
 }
 
 void setSpeed(int left, int right){
-    float sleft=0, sright=0;
+    float sLeft=0, sRight=0;
     sLeft = (float)(left + 100)/200;
-    sright = (float)(right + 100)/200;
+    sRight = (float)(right + 100)/200;
     SLF = sLeft;
     SLB = sLeft;
     SRF = sRight;
@@ -88,9 +88,10 @@
 }
 
 void moveServo(int increment){
-    if (increment < 0 && SARM >= abs(increment){
+    pc.printf("%f\n\r", SARM);
+    if (increment < 0 && SARM >= abs(increment)){
         SARM = SARM + increment;
-    elseif (increment > 0 && SARM <= 1 - abs(increment){
+    }else if (increment > 0 && SARM <= 1 - abs(increment)){
         SARM = SARM + increment;
     }
 }