Diff: main.cpp

Revision:

3:2d6ff72599f1

Parent:

2:ab7b95fb52aa

--- a/main.cpp	Sun Apr 23 19:26:07 2017 +0000
+++ b/main.cpp	Mon Apr 24 04:05:46 2017 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "LSM9DS1.h"
+#include "Wireless.h"
 //#include "USBKeyboard.h"
 #define PI 3.14159
 // Earth's magnetic field varies by location. Add or subtract
@@ -13,8 +14,9 @@
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
 Serial pc(USBTX, USBRX);
-DigitalIn pb1(p21);
+DigitalIn pb1(p17);
 Timeout walkingTimer;
+WirelessModule wireless(p9, p10, FOOT_STEP);
 bool isWalking = false;
 // Calculate pitch, roll, and heading.
 // Pitch/roll calculations taken from this app note:
@@ -27,6 +29,7 @@
 void printStop()
 {
     // pc.printf("stop\n\r");
+    wireless.sendDirection(DIR_NONE);
     isWalking = false;
 }
 
@@ -72,7 +75,7 @@
 int main()
 {
     //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
-    LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
+    LSM9DS1 IMU(p28, p27, 0xD6, 0x3C);
     pb1.mode(PullUp);
     IMU.begin();
     float forward;
@@ -126,20 +129,20 @@
             //Detect direction and send command to main mbed
             if((currHeading > 270 && currHeading < 360) && !isWalking) {
 
-                pc.printf("walking L\n\r");
+                wireless.sendDirection(DIR_LEFT);
 
                 isWalking = true;
             } else if((currHeading > 90 && currHeading < 180) && !isWalking) {
 
-                pc.printf("walking R\n\r");
+               wireless.sendDirection(DIR_RIGHT);
                 isWalking = true;
             } else if((currHeading > 180 && currHeading < 270) && !isWalking) {
 
-                pc.printf("walking D\n\r");
+                wireless.sendDirection(DIR_DOWN);
                 isWalking = true;
             } else if((currHeading > 360 || currHeading < 90) && !isWalking) {
 
-                pc.printf("walking F\n\r");
+                wireless.sendDirection(DIR_UP);
                 isWalking = true;
             }
         }