Diff: main.cpp

Revision:

5:186967c92ef5

Parent:

4:db3aa99ab312

Child:

6:b8a1fa98707e

--- a/main.cpp	Mon Aug 13 21:43:02 2018 +0000
+++ b/main.cpp	Mon Aug 13 21:53:21 2018 +0000
@@ -48,73 +48,79 @@
     t.reset();
     thread.start(callback(&queue, &EventQueue::dispatch_forever));
     setupNode();
-    if(received) {
-
-        if( c == 'w') {
-            pc.printf("up \n");
-            smart.forward();
-        }
+   while(1) {
+        if( received) {
 
-        else if( c == 'a') {
-            //pc.printf("left \n");
-            smart.left();
-        }
+            if( c == 'w') {
+                pc.printf("up \n");
+                smart.forward();
+            }
 
-        else if( c == 'd') {
-            //pc.printf("right \n");
-            smart.right();
-        }
+            else if( c == 'a') {
+                //pc.printf("left \n");
+                smart.left();
+            }
 
-        else if( c == 's') {
-            pc.printf("down \n");
-            smart.backward();
-        }
-
-        else if( c == 'r') {
-            smart.turn_right(90);
-        }
+            else if( c == 'd') {
+                //pc.printf("right \n");
+                smart.right();
+            }
 
-        else if( c == 'l') {
-            smart.turn_left(90);
-        }
+            else if( c == 's') {
+                pc.printf("down \n");
+                smart.backward();
+            }
 
-        else if( c == 't') {
-            char buffer[256];
-            pc.printf ("Enter a long number: ");
-            fgets (buffer, 256, stdin);
-            int angle = atoi (buffer);
+            else if( c == 'r') {
+                smart.turn_right(90);
+            }
 
-            if(angle == 0) {
-                pc.printf("invalid input try again\n");
-            } else {
-                smart.pid_turn(angle);
+            else if( c == 'l') {
+                smart.turn_left(90);
             }
 
-        }
+            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.pid_turn(angle);
+                }
 
-        else if( c == 'm' || manual) {
-            pc.printf("turning on joystick\n");
-            manual = true;
-            t.reset();
-            while(manual) {
-                smart.move(x,y);
-                if( pc.readable()) {
-                    char d = pc.getc();
-                    if( d == 'm') {
-                        pc.printf("turning off joystick\n");
-                        manual = false;
+            }
+
+            else if( c == 'm' || manual) {
+                pc.printf("turning on joystick\n");
+                manual = true;
+                t.reset();
+                while(manual) {
+                    smart.move(x,y);
+                    if( pc.readable()) {
+                        char d = pc.getc();
+                        if( d == 'm') {
+                            pc.printf("turning off joystick\n");
+                            manual = false;
+                        }
                     }
                 }
             }
+
+            else {
+                pc.printf("none \n");
+                smart.stop();
+            }
         }
 
         else {
-            pc.printf("none \n");
+            //        pc.printf("Nothing pressed \n");
             smart.stop();
         }
-
+        received = !received;
         wait(process);
-        received = !received;
     }
 
 }