Diff: main.cpp

Revision:

6:0cd57bdd8fbc

Parent:

5:e0ccaab3959a

Child:

7:5e38d43fbce3

diff -r e0ccaab3959a -r 0cd57bdd8fbc main.cpp
--- a/main.cpp	Tue Jul 17 07:19:04 2018 +0000
+++ b/main.cpp	Fri Jul 20 17:54:43 2018 +0000
@@ -8,72 +8,80 @@
 DigitalOut up(D2);
 DigitalOut down(D3);
 
-Wheelchair smart(xDir,yDir);
+Serial pc(USBTX, USBRX);
+
+Wheelchair smart(xDir,yDir, &pc);
 
 int main(void)
 {
     on = 1;
-    while(1){
- /*   if( pc.readable()) {
-        char c = pc.getc();
-        if( c == 'w') {
-            pc.printf("up \n");
-            smart.forward(); 
-            }
-        
-        else if( c == 'd') {
-            pc.printf("left \n");
-            smart.left();
-            }
-        
-        else if( c == 'a') {
-            pc.printf("right \n");
-            smart.right();
-            }
-        
-        else if( c == 's') {
-            pc.printf("down \n");
-            smart.backward();
+    while(1) {
+        /*   if( pc.readable()) {
+               char c = pc.getc();
+               if( c == 'w') {
+                   pc.printf("up \n");
+                   smart.forward();
+                   }
+
+               else if( c == 'd') {
+                   pc.printf("left \n");
+                   smart.left();
+                   }
+
+               else if( c == 'a') {
+                   pc.printf("right \n");
+                   smart.right();
+                   }
+
+               else if( c == 's') {
+                   pc.printf("down \n");
+                   smart.backward();
+                   }
+
+               else {
+                   pc.printf("none \n");
+                   smart.stop();
+                   if( c == 'o') {
+                      pc.printf("turning on");
+                      on = 0;
+                      wait(process);
+                      on = 1;
+                       }
+
+                   else if( c == 'k') {
+                       off = 0;
+                       wait(process);
+                       off = 1;
+                       }
+
+                   else if( c == 'u') {
+                       up = 0;
+                       wait(process);
+                       up = 1;
+                       }
+
+                   else if( c == 'p') {
+                       down = 0;
+                       wait(process);
+                       down = 1;
+                       }
+                   }
+                  }
+
+           else {
+              pc.printf("Nothing pressed \n");
+              smart.stop();
+                   }
+          */
+        smart.move(x,y);
+        if( pc.readable()) {
+            char c = pc.getc();
+            if( c == 'r') {
+                smart.turn_right(pc);
             }
-        
-        else {
-            pc.printf("none \n");
-            smart.stop();
-            if( c == 'o') {
-               pc.printf("turning on");
-               on = 0;
-               wait(process);
-               on = 1; 
-                }
-            
-            else if( c == 'k') {
-                off = 0;
-                wait(process);
-                off = 1;
-                }
-        
-            else if( c == 'u') {
-                up = 0;
-                wait(process);
-                up = 1;
-                }
-        
-            else if( c == 'p') {
-                down = 0;
-                wait(process);
-                down = 1;
-                }
-            }
-           }
-           
-    else {
-       pc.printf("Nothing pressed \n");
-       smart.stop();
-            }
-   */
-    smart.move(x,y); 
-    wait(process);
-       }
+        }
+        wait(process);
+    }
 
 }