Gerardo Carmona
/
RobotV1
Robot Competition V1
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; } }