Diff: bt_shell/shell/remotecontrol_fnt.h

Revision:

0:964eb6a2ef00

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bt_shell/shell/remotecontrol_fnt.h	Wed Mar 18 22:23:48 2015 +0000
@@ -0,0 +1,103 @@
+void remotecontrol_fnt(int argc, char **argv)
+{
+    int speed = 40;
+    
+    bt.lock();
+    bt.printf("Remote Control Mode\r\n");
+    bt.printf("Controls:\r\n");
+    bt.printf("     wasd & qezc to move\r\n");
+    bt.printf("     r/f for speed +/-\r\n");
+    bt.printf("     enter key to exit\r\n");
+    bt.unlock();
+    
+    if(argc == 2){
+        speed = tinysh_atoxi(argv[1]);        
+        if( speed <= 0 || speed > 100)
+            speed = 100;
+    }        
+    
+    int Lspeed = 0;
+    int Rspeed = 0;
+
+    char c = 0;
+    
+    while(c != '\r' && c != '\n')
+    {
+        bt.lock();
+        
+        if(bt.readable())
+        {
+        c = bt.getc();
+        bt.unlock();
+               
+        switch ( c ) {
+            case 'w':
+                Lspeed = speed;
+                Rspeed = speed;            
+            break;
+            case 'a':
+                Lspeed = -speed;
+                Rspeed = speed;
+            break;
+            case 's':
+                Lspeed = -speed;
+                Rspeed = -speed;
+            break;
+            case 'x':
+                Lspeed = -speed;
+                Rspeed = -speed;
+            break;
+            case 'd':
+                Lspeed = speed;
+                Rspeed = -speed;
+            break;
+            case 'q':
+                Lspeed = 0;
+                Rspeed = speed;
+            break;
+            case 'e':
+                Lspeed = speed;
+                Rspeed = 0;
+            break;      
+            case 'c':
+                Lspeed = -speed;
+                Rspeed = 0;
+            break;       
+            case 'z':
+                Lspeed = 0;
+                Rspeed = -speed;
+            break;        
+            case 'r':
+                speed += 10;
+                if(speed > 100)
+                    speed = 100;
+                bt.lock();
+                bt.printf("speed = %d\r\n", speed);
+                bt.unlock();
+                Lspeed = 0;
+                Rspeed = 0;
+            break;  
+            case 'f':
+                speed -= 10;
+                if(speed < 0)
+                    speed = 0;
+                bt.lock();
+                bt.printf("speed = %d\r\n", speed);      
+                bt.unlock();
+                Lspeed = 0;
+                Rspeed = 0;              
+            break;         
+            default:
+                Lspeed = 0;
+                Rspeed = 0;
+            break;
+        }
+        
+        moveMotors(Lspeed,Rspeed,100);
+        
+        }else
+            bt.unlock();
+            
+        Thread::wait(25);   
+    }
+}
\ No newline at end of file