Revision 3:c594d33c7523, committed 2015-12-23

Comitter:

jcabello7

Date:

Wed Dec 23 15:04:55 2015 +0000

Parent:

2:298c9cc5af48

Child:

4:de2112ca0735

Commit message:

Millorada l'estructura de la llibreria (ara cedeix el control del c?lcul dels motors al programa principal)

Changed in this revision

--- a/Hc05.cpp	Mon Dec 21 19:04:55 2015 +0000
+++ b/Hc05.cpp	Wed Dec 23 15:04:55 2015 +0000
@@ -70,13 +70,18 @@
         void Hc05::tractaString(){
             if ((strLlegit[0] == 'a') && (strLlegit[1] == 'v') && (strLlegit[2] == 'a') && (strLlegit[3] == 'n'))
                 mode = 1;
-            if ((strLlegit[0] == 'r') && (strLlegit[1] == 'o') && (strLlegit[2] == 't') && (strLlegit[3] == 'a'))
+            else if ((strLlegit[0] == 'r') && (strLlegit[1] == 'o') && (strLlegit[2] == 't') && (strLlegit[3] == 'a'))
                 mode = 2;
-            if ((strLlegit[0] == 's') && (strLlegit[1] == 't') && (strLlegit[2] == 'o') && (strLlegit[3] == 'p')){
+            else if ((strLlegit[0] == 'm') && (strLlegit[1] == 'o') && (strLlegit[2] == 'd') && (strLlegit[3] == 'e') && (strLlegit[5] == 'a') && (strLlegit[6] == 'u') && (strLlegit[7] == 't') && (strLlegit[8] == 'o'))
+                mode = 3;
+            else if ((strLlegit[0] == 'm') && (strLlegit[1] == 'o') && (strLlegit[2] == 'd') && (strLlegit[3] == 'e') && (strLlegit[5] == 'm') && (strLlegit[6] == 'a') && (strLlegit[7] == 'n') && (strLlegit[8] == 'u'))
+                mode = 4;
+            else if ((strLlegit[0] == 's') && (strLlegit[1] == 't') && (strLlegit[2] == 'o') && (strLlegit[3] == 'p')){
                 mode = 0;
                 vel = 0;
                 ang = 0;
             }
+            else ;
             if ((mode == 1) || (mode==2)){
                 char svel[5], sang[5];
                 for(int i = 0; i<=4;i++){
@@ -87,24 +92,9 @@
                 vel = atoi(svel);
                 ang = atoi(sang);
             }
-            if ((strLlegit[0] == 'm') && (strLlegit[1] == 'o') && (strLlegit[2] == 'd') && (strLlegit[3] == 'e') && (strLlegit[5] == 'a') && (strLlegit[6] == 'u') && (strLlegit[7] == 't') && (strLlegit[8] == 'o'))
-                mode = 3;
-            calculaMotors();
-            char cDireccio[3];
-            if (m1<0)
-                cDireccio[0]='B';
-            else cDireccio[0]='F';
-            if (m2<0)
-                cDireccio[1]='B';
-            else cDireccio[1]='F';
-            if (m3<0)
-                cDireccio[2]='B';
-            else cDireccio[2]='F';
+            //Calcul dels motors
+            //calculaMotors();
             
-            snprintf(strM1, longString, "V%.3i%cM1", abs(m1), cDireccio[0]);
-            snprintf(strM2, longString, "V%.3i%cM2", abs(m2), cDireccio[1]);
-            snprintf(strM3, longString, "V%.3i%cM3", abs(m3), cDireccio[2]);
-            snprintf(strPos, longString, "X=%g   Y=%g", x, y);
         };
         
         int Hc05::getMode(){return mode;};
@@ -130,7 +120,7 @@
         
         //Calculs motors
         void Hc05::calculaMotors(){
-            if(mode==1){
+            if(mode==1){ //Falta afegir una condició perquè no deixi avançar en determinada direcció si detecta els ultrasons
                 x = cos(ang*pi/180);
                 y = sin(ang*pi/180);
                 m1 = (-y)*vel;
@@ -147,6 +137,22 @@
             else {
                 m1 = m2 = m3 = x = y = 0;
             }
+            //Omple els strings per enviar a l'arduino
+            char cDireccio[3];
+            if (m1<0)
+                cDireccio[0]='B';
+            else cDireccio[0]='F';
+            if (m2<0)
+                cDireccio[1]='B';
+            else cDireccio[1]='F';
+            if (m3<0)
+                cDireccio[2]='B';
+            else cDireccio[2]='F';
+            
+            snprintf(strM1, longString, "V%.3i%cM1", abs(m1), cDireccio[0]);
+            snprintf(strM2, longString, "V%.3i%cM2", abs(m2), cDireccio[1]);
+            snprintf(strM3, longString, "V%.3i%cM3", abs(m3), cDireccio[2]);
+            snprintf(strPos, longString, "X=%g   Y=%g", x, y);
         };
         
         void Hc05::getStringM1(char* str){