Diff: main.cpp

Revision:

2:b87aaf1bc803

Parent:

1:78452728a306

Child:

3:ef7e0cbade6d

--- a/main.cpp	Thu Oct 16 00:49:21 2014 +0000
+++ b/main.cpp	Sat Nov 22 00:58:11 2014 +0000
@@ -7,10 +7,10 @@
 
 int main()
 {
-    int dataIn[2], dataOut[2];
+    int dataIn[3], dataOut[3];
     dataOut[0]=7;
     dataOut[1]=30;
-    mainPower=0;//Don't turn on for initial testing
+    mainPower=1;//Don't turn on for initial testing
     initializeDatabed();
     comm.reply(dataOut[0]);//make this the first message
     pc.printf("DataBed On!\r\n");
@@ -18,15 +18,25 @@
     //float blah=1;
     //t_debug.start();
     while (1) { //Run these functions as fast as possible
-        /*if(comm.receive()) {
-            //t_debug.reset();
-            dataIn[0] = comm.read();//Read the SPI buffer
 
-            while(dataIn[0]==75) {
+        if(comm.receive()) {
+            dataIn[0] = comm.read();
+            comm.reply(UI);         // Make this the next reply
+            while(dataIn[0]==7) {
                 if(comm.receive()) {
-                    //comm.reply(dataOut[1]);// Make this the next reply
-                    dataIn[1]=comm.read();//Read the SPI buffer
-                    //pc.printf("T");
+                    dataIn[1]=comm.read();
+                    comm.reply(22);
+                    break;
+                    dataIn[0]=0;
+                }
+            }
+            while(dataIn[1]==30) {
+                if(comm.receive()) {
+                    dataIn[2]=comm.read();
+                    comm.reply(5);
+                    pc.printf("Fault: %d, %d ", leftFault.read(), rightFault.read());
+                    pc.printf("Data1: %u, Data2: %u, Data3: %u\r\n", dataIn[0], dataIn[1], dataIn[2]);
+                    dataIn[1]=0;
                     break;
                 }
             }
@@ -36,28 +46,8 @@
                 checkUI_XBee(); //check UI from Xbee
                 counter=0;
             }
-            //dataOut[0]=UI;
-            comm.reply(dataOut[0]);//Set the communication for the next round
-            pc.printf("Data: %d, %d,\r\n", dataIn[0], dataIn[1]);
-            comm.reply(dataOut[1]);// Make this the next repl
-            //counter++;
-            //blah=t_debug.read_us();
-            //pc.printf("UI: %d\r\n", UI);
-            //pc.printf("T: %f \r\n ", blah);
-            
-        }*/
-        if(comm.receive()) {
-            dataIn[0] = comm.read();
-            comm.reply(28);         // Make this the next reply
-            while(dataIn[0]==7) {
-                if(comm.receive()) {
-                    dataIn[1]=comm.read();
-                    comm.reply(5);
-                    pc.printf("Data1: %u, Data2: %u\n\r", dataIn[0], dataIn[1]);
-                    dataIn[0]=0;
-                    break;
-                }
-            }
+            counter++;
         }
+
     }
 }
\ No newline at end of file