Diff: main.cpp

Revision:

46:49f3da891e24

Parent:

45:409988ab53e4

Child:

47:4f418a4b0051

--- a/main.cpp	Tue Jun 21 10:56:08 2016 +0000
+++ b/main.cpp	Tue Jun 21 11:41:18 2016 +0000
@@ -95,7 +95,7 @@
         for (int i = 0; i < MOTORS; i++)
             sum += abs(ms[i]->errorTurn);
         
-        pc.printf("%.2f %d%d\n",speed,dir,turn);
+        pc.printf("");
         //pc.printf("%f\n",sum);
     }
     while(sum > 0.05f);
@@ -107,8 +107,7 @@
 {
     for (int i = 0; i < MOTORS; i++)
     {
-        if (i != 3)
-            ms[i]->drive(0.2f);
+        ms[i]->drive(0.2f);
     }
     
     bool done;
@@ -117,13 +116,10 @@
         done = true;
         for (int i = 0; i < MOTORS; i++)
         {
-            if (i != 3)
-            {
-                if (ss[i].read())
-                    done = false;
-                else
-                    ms[i]->drive(0.f);
-            }
+            if (ss[i].read())
+                done = false;
+            else
+                ms[i]->drive(0.f);
         }
     }
     while (!done);
@@ -226,16 +222,16 @@
         //speed = 1.5f;
         //speed = 0;
         //int oldactive = active;
-        if (pc.readable()){
-            int rfSpeed = 0;
-            pc.scanf("%d %d %d", &rfSpeed, &dir, &turn);
-            speed = rfSpeed/10.0f;
-            if (speed >= 10)
-                speed = speed - (((int)(speed/10))*10);
-            else if (speed <= 0.25f)
-                speed = float(0);
-        }
-        pc.printf("%.2f %d%d\n",speed,dir,turn);
+        //if (pc.readable()){
+        int rfSpeed = 0;
+        pc.scanf("%d %d %d", &rfSpeed, &dir, &turn);
+        if (rfSpeed > 50){
+            rfSpeed = rfSpeed-(rfSpeed - rfSpeed/10);
+            }
+        speed = rfSpeed/10.0f;
+        if (speed <= 0.5f)
+            speed = float(0);
+        pc.printf("%d %.2f\n",rfSpeed,speed);
                 
         if (speed != 0){
             //for (int i = 0; i < MOTORS; i++)