Diff: main.cpp

Revision:

12:3cf6376007c6

Parent:

11:75f0f13ff6c1

--- a/main.cpp	Thu Aug 16 16:42:45 2018 +0000
+++ b/main.cpp	Fri Aug 17 03:12:21 2018 +0000
@@ -3,26 +3,28 @@
 AnalogIn x(A0);
 AnalogIn y(A1);
 
-DigitalOut off(D0);
-DigitalOut on(D1);
+DigitalOut on(D12);
+DigitalOut off(D11);
 DigitalOut up(D2);
 DigitalOut down(D3);
 
 bool manual = false;
 
-Serial pc(USBTX, USBRX, 57600);
+Serial pc(USBTX, USBRX, 9600);
 Timer t;
 
 Wheelchair smart(xDir,yDir, &pc, &t);
 
+char c = 'z';
 
 int main(void)
 {
-    pc.printf("hello\n");
     while(1) {
         if( pc.readable()) {
-            char c = pc.getc();
-            pc.printf("hello\n");
+            c = pc.getc();
+        }
+
+        else {
             if( c == 'w') {
                 pc.printf("up \n");
                 smart.forward();
@@ -50,22 +52,34 @@
             else if( c == 'l') {
                 smart.turn_left(90);
             }
+             else if(c == 'o') {
+                pc.printf("turning on\n");
+                on = 1;
+                wait(1);
+                on = 0;
+                c = 'z';
+            } else if(c == 'f') {
+                pc.printf("turning off\n");
+                off = 1;
+                wait(1);
+                off = 0;
+                c = 'z';
+            }
 
             else if( c == 't') {
                 char buffer[256];
                 pc.printf ("Enter a long number: ");
                 fgets (buffer, 256, stdin);
                 int angle = atoi (buffer);
-                
+
                 if(angle == 0) {
                     pc.printf("invalid input try again\n");
-                    }
-                else {
-                smart.turn(angle);
-                    }
-                    
-            } 
-            
+                } else {
+                    smart.turn(angle);
+                }
+
+            }
+
             else if( c == 'm') {
                 pc.printf("turning on joystick\n");
                 manual = true;
@@ -83,16 +97,13 @@
             }
 
             else {
-                pc.printf("none \n");
                 smart.stop();
+                pc.printf("hello\n");
             }
         }
-
-        else {
-            smart.stop();
-        }
-        wait(process);
     }
-
+    wait(process);
 }
 
+
+