Revision 2:8887d13f967a, committed 2017-05-03

Comitter:

jplager3

Date:

Wed May 03 02:19:12 2017 +0000

Parent:

1:6b8a201f4f90

Child:

3:17113c72186e

Commit message:

debugging

Changed in this revision

--- a/main.cpp	Wed May 03 01:53:52 2017 +0000
+++ b/main.cpp	Wed May 03 02:19:12 2017 +0000
@@ -155,9 +155,9 @@
         printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
                       IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
         BTmutex.unlock();
-        myled = 1;
+        //myled = 1;
         wait(0.5);
-        myled = 0;
+        //myled = 0;
         wait(0.5);   
     }  
 }
@@ -182,9 +182,9 @@
     stop();
     Thread::wait(1000);
     // turn should be complete. Drive until obstacle passed on right, then turn right again
-    BTmutex.lock();
+    //BTmutex.lock();
     //dev.printf("Driving past obstacle.\n\r");
-    BTmutex.unlock();
+    //BTmutex.unlock();
     forward(throttle);
     bool objOnRight = true;
     while(objOnRight){
@@ -229,13 +229,13 @@
         }    
         Thread::wait(400);      // for debug. IR polling too quick and floods output terminal
     }
-    
 }
 
 void manualMode(){
     bool on = true;
+    char temp;
     while(on){
-        char temp = dev.getc();
+        temp = dev.getc();
         if(temp == 'A'){  // reset command
             on = false;
         }
@@ -270,6 +270,10 @@
         else if(temp=='X'){  // halt/brake command
             stop();
         }
+        //myled=1;
+        //wait(0.5);
+        //myled=0;
+        //wait(0.5);
     }
 }
 
@@ -279,16 +283,16 @@
     pc.baud(9600);
     dev.baud(9600);
     //wait to recv start command
-    /*
+    
     for(int i=0; i<3;i++){          //temp delay for a few sec
         myled=led2=led3=led4=1;
         wait(0.5);
         myled=led2=led3=led4=0;
         wait(0.5);
-    }   */
+    }   
     thread1.start(IMU); // start the IMU thread
     char temp;
-    
+    /*
     while(1){   //robot will receive a char from GUI signalling time to start
         temp = dev.getc();
         led3=1;
@@ -301,12 +305,14 @@
         else {led2 = 0;}
         wait(0.25);
     }   
+    */
     led3=0;
     thread2.start(defaultDrive);
     while(1){
         temp = dev.getc();
         if(temp == 'M'){
             led4=1;
+            stop();
             thread2.terminate();     //stop default drive
             manualMode();       //switch to manual control
             //once manualMode is exited, return to default