Diff: main.cpp

Revision:

1:1e01b12063cd

Parent:

0:f3a3f80e3202

Child:

2:d1dec651ff13

--- a/main.cpp	Thu Jul 07 12:56:54 2016 +0000
+++ b/main.cpp	Thu Jul 14 13:31:01 2016 +0000
@@ -20,9 +20,10 @@
 char buffer1[BufferSize];
 char buffer2[BufferSize];
 char camove[2];
+char tablicaf[4];
 int wall=30;        // odleglosc od sciany w cm
 int act_vertical=0, act_horizontal=0, move=0, val=0;
-Timer t, t_sonar;
+Timer t, t_sonar, t_fidu;
 long distance;
 volatile unsigned int speed_car = 0;
 
@@ -72,6 +73,15 @@
         return 0;
 }
 
+char* intToChar(int value, char tab[3])
+{
+        tab[0]= (char)(value/100 + 48);
+        tab[1]= (char)((value-(100*(value/100)))/10 + 48);
+        tab[2]= (char)(value-(100*(value/100))-(10*((value-(100*(value/100)))/10)) + 48);
+        tab[3]= ';';
+        return tab;
+}
+
 void hard_stop()             // zatrzymujaca robota
 {
     eng_left.move(0);
@@ -121,8 +131,10 @@
 
 void set_camera_zero()             // zerujaca kamere
 {
-     cam_horizontal.position(-5);
-     cam_vertical.position(-20);       
+     cam_horizontal.position(-8);
+     cam_vertical.position(-20);
+     act_horizontal=-8;
+     act_vertical=-20;       
 }
 
 void set_val()          // odczytująca wartosc
@@ -139,9 +151,11 @@
     cleanBuffer2(); 
     set_camera_zero();
     t_sonar.start();
+    t_fidu.start();
+    int i=0;
     
     while(true){
-        stm.printf("Poczatek while \n");
+        //stm.printf("Poczatek petli nr %d \n", i);
         if(t.read_ms()>500)         //jesli przez ponad 500ms nie ma nowej ramki, zatrzymujemy robota
             { 
             eng_left.move(0);
@@ -150,29 +164,36 @@
         if(t_sonar.read_ms()>1000)          //odczyt odleglosci co 1,2s
         {
             distance = sensor.distance();
-            stm.printf("%d\n",distance);
+            //stm.printf("distance z czujnika: %d\n",distance);
             
             t_sonar.stop();
             t_sonar.reset();
             t_sonar.start();
         }
         while(stm.readable()){
-            stm.gets(buffer1, 13);
+            
+            /*stm.gets(buffer1, 13);
+            stm.puts(buffer1);
+            break;}*/
+
+            for (int x=0; x<12; x++){
+                if(t_fidu.read_ms()>1000){
+                    stm.printf("urywam;");
+                    t_fidu.stop();
+                    t_fidu.reset();
+                    break;}
+                buffer1[x]=stm.getc();
+                if(buffer1[x]==';'){
+                t_fidu.stop();
+                t_fidu.reset();
+                t_fidu.start();
+                    break;}
+            }
+            stm.puts(buffer1);
             break;}
         
-        stm.printf("bufor pierwszy: \n");
-        
-        for (int f=0; f<20; f++)
-        {
-            stm.printf("%c", buffer1[f]);
-        }
-        
-        stm.printf("\n");
-        
         set_val();
         
-        stm.printf("%i", val);
-        
         t.stop();
         t.reset();
         t.start();
@@ -186,21 +207,21 @@
                 break;
             case 2:
                 eng_right.move(speed_car);
-                eng_left.move(speed_car - map(val, 0, 255, 0, speed_car));
-                cam_horizontal.position(15);
-                cam_vertical.position(0);
+                eng_left.move(speed_car - map(val, 0, 100, 0, speed_car));
+                cam_horizontal.position(7);
+                cam_vertical.position(-20);
                 break;
             case 3:
                 eng_left.move(speed_car);
-                eng_right.move(speed_car - map(val, 0, 255, 0, speed_car));
-                cam_horizontal.position(0);
-                cam_vertical.position(-35);
+                eng_right.move(speed_car - map(val, 0, 100, 0, speed_car));
+                cam_horizontal.position(-23);
+                cam_vertical.position(-20);
                 break;
             case 4:
                 eng_left.move(-val);
                 eng_right.move(-val); 
                 set_camera_zero();
-                speed_car = val;
+                speed_car = -val;
                 break;
             case 5:
                 hard_stop();
@@ -227,17 +248,17 @@
                 move_camera_right(val);
                 break;
             case 12:
-                set_camera_zero();  
+                set_camera_zero();
                 break;
             default:
-                stm.printf("unknown_command \n");
+                //stm.printf("unknown_command \n");
                 break;
         }
         cleanBuffer1();
         cleanBuffer2();
         
-        stm.printf("Koniec while \n");
+        i++;
         
-        wait_ms(2000);
+        //wait_ms(200);
     }
 }
\ No newline at end of file