Diff: main.cpp

Revision:

3:6ec54d838b44

Parent:

2:d8db9db36fb7

Child:

4:d58b9ad5d43d

--- a/main.cpp	Fri Oct 17 15:24:58 2014 +0000
+++ b/main.cpp	Sun Feb 15 08:04:49 2015 +0000
@@ -5,20 +5,20 @@
 #define LM2_ D7
 #define RM1_ D6
 #define RM2_ D5
-#define RX_  D0
-#define TX_  D1
+#define RX_  PTC14
+#define TX_  PTC15
 
 PwmOut LM1(LM1_); // motors configuration
 PwmOut LM2(LM2_);
 PwmOut RM1(RM1_);
 PwmOut RM2(LM2_);
 
-//Serial link(TX_, RX_);   // bluetooth serial port
-Serial link(USBTX, USBRX); // usb serial port
+Serial link(TX_, RX_);   // bluetooth serial port
+//Serial link(USBTX, USBRX); // usb serial port
  
 void analogWrite(mbed::PwmOut *prt, char spd) // write to PWM
 {
-  float a = spd / 2.56; // convert 0..256 to '%'
+  float a = spd / 256.0; // convert 0..256 to 0..1
   *prt = a;
 }
 
@@ -85,7 +85,7 @@
   str[2] = d + 48;
 }
 
-char toupper(char ch)
+char tolower(char ch)
 {
   if (ch >= 'a' && ch <= 'z') return ch;
   if (ch >= 'A' && ch <= 'Z') return ch - 'A' + 'a';
@@ -95,7 +95,7 @@
 int main(void)
 {
    char dat[5], b, i;
-   link.baud(9600);
+   link.baud(115200);
    initEcho();   // initialize echo sensor
    GoForward(0); // stop all motors
 
@@ -104,26 +104,30 @@
 
    while (true)
    {
-     if(link.readable()) // read data from blutooth serial port
+     link.printf("Take a sequence\n\r");
+     
+     for (i=0; i<5; i++)
      {
-        for (i=0; i<5; i++)
+        while (!link.readable());
         dat[i] = link.getc();
-     }
-     
-     b = toupper(dat[0]);
-   
+    }
+
+     b = tolower(dat[0]);
      int spd = charToInt(dat[1],dat[2],dat[3]);
+
+     if (b == 'f') GoForward(spd); // movements
+     if (b == 'b') GoBack(spd);
+     if (b == 'r') TurnRight(spd);
+     if (b == 'l') TurnLeft(spd);
+     if (b == 'n') GoForward(0);
    
-     if (b == 'F') GoForward(spd); // movements
-     if (b == 'B') GoBack(spd);
-     if (b == 'R') TurnRight(spd);
-     if (b == 'L') TurnLeft(spd);
-     if (b == 'N') GoForward(0);
-   
-     if (b == 'E') // echo sensor
+     if (b == 'e') // echo sensor
      {
        intToChar(getEcho());
        link.printf(str);
      }
+     
+     //link.printf(dat);
+     link.printf("%c%d ",b,spd);
    }
 }
\ No newline at end of file