Revision 6:e3cc19965e74, committed 2016-07-23

Comitter:

roger5641

Date:

Sat Jul 23 13:48:41 2016 +0000

Parent:

5:63c9ab496df9

Commit message:

Robotics final work

Changed in this revision

--- a/main.cpp	Mon Jun 06 10:07:52 2016 +0000
+++ b/main.cpp	Sat Jul 23 13:48:41 2016 +0000
@@ -91,37 +91,11 @@
             else
             servo_angle = 20;
         }
-       /*if(pc.readable())
-        {
-            bluetooth.putc(pc.getc());
-        }
-        if(bluetooth.readable())
-        {
-            pc.putc(bluetooth.getc());
-        }*/
     }
 }
 
 void timer1_interrupt(void)
-{    
-
-    /*for(int i=0; i<8; i++)
-    {
-        Receive_Data[i] =  bluetooth.getc();  
-    }
-    //read data from matlab
-    //distance_target
-    v1_ref = (Receive_Data[1]-0x30)*100 + (Receive_Data[2]-0x30)*10 + (Receive_Data[3]-0x30);
-            
-    if(Receive_Data[0] == '-')v1_ref = -1* v1_ref;
-    else v1_ref = v1_ref;
-            
-    //ang_rel_target
-    v2_ref = (Receive_Data[5]-0x30)*100 + (Receive_Data[6]-0x30)*10 + (Receive_Data[7]-0x30);
-            
-    if(Receive_Data[4] == '-')v2_ref = -1* v2_ref;
-    else v2_ref = v2_ref;*/
-    
+{     
     //Motor 1
     v1 = (float)v1Count * 50.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
     v1_avg = v1_avg + ( v1 - v1_old[9])/10.0f;