Diff: main.cpp

Revision:

4:0a37a963b724

Parent:

3:4a598ab10e87

Child:

6:c4af95f6e155

--- a/main.cpp	Fri Dec 18 00:23:49 2015 +0000
+++ b/main.cpp	Sat Dec 19 01:09:57 2015 +0000
@@ -1,164 +1,9 @@
 #include "mbed.h"
 #include "rtos.h"
-
-// -----------------------------
-// ---- NO TOCAR DESDE AQUI ----
-// -----------------------------
-
-//0, 60, 120, 180 i en negatiu
-
-#define longString 128 //longString es la longitud màxima del string
-
-class Pc : public RawSerial {
-    public:
-        Pc(PinName tx, PinName rx) : RawSerial(tx, rx){
-            baud(115200);
-        };
-            
-        void enviaString(char* str){
-            int i = 0;
-            while((i < longString) && (str[i] != '\0')) {
-                putc(str[i]);
-                i++;
-            }
-            putc(10);
-        };
-        
-        bool llegirString(char* str){
-            if(readable()){
-                int i= 0;
-                str[i] = getc();
-                while((i < longString) && (str[i] != 13)) {                    
-                    if (str[i] != '@')
-                        i++;
-                    str[i] = getc();
-                }
-                str[i] = '\0';
-                return true;           
-            }
-            return false;
-        };
-        
+#include "Hc05.h"
+#include "RawSerialPc.h"
 
- };
- 
- class Hc05 : public RawSerial {
-    private:
-    int mode, vel, ang;
-    Timer *timer;
-    char strLlegit[longString]; 
-    public:
-        //Mutex mutex;
-        Hc05(PinName tx, PinName rx) : RawSerial(tx, rx){
-            baud(230400);
-            mode = vel = ang = 0;
-            iniString();
-            timer = new Timer;
-            timer->start();
-            };
-            
-        ~Hc05(){
-            //timer.stop();    
-        };
-        
-        void iniString(){
-            strLlegit[0] = 'S';
-            strLlegit[1] = 't';
-            strLlegit[2] = 'r';
-            strLlegit[3] = 'i';
-            strLlegit[4] = 'n';
-            strLlegit[5] = 'g';
-            strLlegit[6] = '\0';
-        };
-            
-        void enviaString(char* str){
-            int i = 0;
-            while((i < longString) && (str[i] != '\0')) {
-                putc(str[i]);
-                i++;
-            }
-            putc(13);
-        };
-        
-        
-        bool llegirString(){
-            if(readable()){
-                
-                char c = getc();
-                int i = 0;
-                //timer->reset();
-                //mutex.lock();
-                while((i < longString) && (c != 13)) {
-                    if(c!='@'){
-                        strLlegit[i] = c;
-                        i++;
-                    }
-                    timer->reset();
-                    c = getc();
-                }
-                strLlegit[i] = '\0';
-                //mutex.unlock();
-                return true;
-                
-            }
-            return false;
-        };
-        
-        void 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'))
-                mode = 2;
-            if ((strLlegit[0] == 's') && (strLlegit[1] == 't') && (strLlegit[2] == 'o') && (strLlegit[3] == 'p')){
-                mode = 0;
-                vel = 0;
-                ang = 0;
-            }
-            if ((mode == 1) || (mode==2)){
-                char svel[5], sang[5];
-                for(int i = 0; i<=4;i++){
-                    sang[i] = strLlegit[i+5];
-                    svel[i] = strLlegit[i+10];    
-                }
-                sang[4] = svel[4] = '\0';
-                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;
-        };
-        
-        int getMode(){return mode;};
-        int getVel(){return vel;};
-        int getAng(){return ang;};
-        void getStringLlegit(char* str){
-            int i = 0;
-            while((i < longString) && (strLlegit[i] != '\0')) {
-                str[i] = strLlegit[i];
-                i++;
-            }
-            str[i] = '\0';
-        };
-        
-        void comprovaConnexio(){
-            //char m[128];
-            //snprintf(m, 128, "Mode: %d", getMode());
-            //Pc::enviaString(m);
-            if(getTimer() > 300)
-                mode = -1;
-        };
-        
-        int getTimer(){
-            return  timer->read_ms();   
-        };
-        
-
-};
-// ----------------------------
-// ---- NO TOCAR FINS AQUI ----
-// ----------------------------
-
-Pc pc(USBTX, USBRX);    //Per provar si funciona, no cal al programa
+RawSerialPc pc(USBTX, USBRX);    //Per provar si funciona, no cal al programa
 Hc05 bt(D8, D2);        //Crea l'objecte bt, connectat als pins D8 (TX) i D2 (RX) (és la connexió sèrie BT)
 char prova[longString] = "hola"; //Per provar si funciona, no cal al programa