Diff: main.cpp

Revision:

2:dfc1315b4b03

Parent:

1:06bd2e196518

--- a/main.cpp	Sat Apr 11 09:51:14 2015 +0000
+++ b/main.cpp	Sat Apr 11 10:41:09 2015 +0000
@@ -58,10 +58,12 @@
     // Writes the left and right distance variable
        pc.printf("SENSOR Left: %d \n\r\v",distLeft(dLEFT));
        pc.printf("SENSOR Right: %d \n\r\v",distRight(dRIGHT));
-       */
+    */
+        char diller = BT.getc();
+        BT.putc(diller);
        // Break out of loop if 'p'
-       if(BT.getc() == 'p' && pilot == true){
-            pilot == false;      
+       if(diller == 'p' && pilot == true){
+            pilot = false;      
         }
         
     //Drej til venstre for at rette op    
@@ -102,7 +104,8 @@
 void motorControl(char input) {
   switch (input) {
     case 'w':
-    sideSpeed = 0;
+    rightSpeed = 0;
+    leftSpeed = 0;
     BT.printf("FORWARDS!");
       if (frontSpeed < 0.99) {
         frontSpeed = frontSpeed + 0.25f;
@@ -114,10 +117,12 @@
       leftBackward = backSpeed;
       rightForward = frontSpeed;
       rightBackward = backSpeed;
+      
       break;
 
     case 's':
-    sideSpeed = 0;
+    rightSpeed = 0;
+    leftSpeed = 0;
     if (frontSpeed > 0.1) {
         frontSpeed = frontSpeed - 0.25f;
       }
@@ -186,6 +191,8 @@
       wait(0.3);
       grabOut = 0;
       break;
+      
+      
     case 'x':
       frontSpeed = 0;
       backSpeed = 0;
@@ -200,16 +207,16 @@
       heightUp = 0;
       heightDown = 0;
       break;
-      /*
+      
     case 'p':
         if(pilot == false){
             pilot = true;
             while(1){ 
-            selfDrive();
+                selfDrive();
             }
         }
     break;
-    */
+    
   }
 }
 int main(void) {
@@ -222,6 +229,6 @@
 
         command = BT.getc();
         BT.putc(command);
-      motorControl(command);
+        motorControl(command);
     }
   }