Diff: main.cpp

Revision:

12:0e5a0571b497

Parent:

11:75f0f13ff6c1

diff -r 75f0f13ff6c1 -r 0e5a0571b497 main.cpp
--- a/main.cpp	Thu Aug 16 16:42:45 2018 +0000
+++ b/main.cpp	Fri Aug 17 03:10:39 2018 +0000
@@ -3,14 +3,17 @@
 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;
+bool leftBound = false;
+bool rightBound = false;
+bool straightBound = false;
 
-Serial pc(USBTX, USBRX, 57600);
+Serial pc(USBTX, USBRX, 9600);
 Timer t;
 
 Wheelchair smart(xDir,yDir, &pc, &t);
@@ -18,62 +21,39 @@
 
 int main(void)
 {
-    pc.printf("hello\n");
+    smart.stop();
     while(1) {
-        if( pc.readable()) {
-            char c = pc.getc();
-            pc.printf("hello\n");
-            if( c == 'w') {
-                pc.printf("up \n");
-                smart.forward();
-            }
-
-            else if( c == 'a') {
-                pc.printf("left \n");
-                smart.left();
-            }
-
-            else if( c == 'd') {
-                pc.printf("right \n");
-                smart.right();
-            }
-
-            else if( c == 's') {
-                pc.printf("down \n");
-                smart.backward();
-            }
-
-            else if( c == 'r') {
-                smart.turn_right(90);
-            }
-
-            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.turn(angle);
-                    }
-                    
-            } 
-            
-            else if( c == 'm') {
                 pc.printf("turning on joystick\n");
                 manual = true;
                 t.reset();
                 while(manual) {
-                    smart.move(x,y);
+                    smart.move(x,y,leftBound,rightBound,straightBound);
                     if( pc.readable()) {
                         char d = pc.getc();
+                        if( d == 'l') {
+                            leftBound = true;
+                        }
+
+                        if (d == 'e') {
+                            leftBound = false;
+                        }
+
+                        if( d == 'f') {
+                            straightBound = true;
+                        }
+
+                        if (d == 'o') {
+                            straightBound = false;
+                        }
+
+                        if( d == 'r') {
+                            rightBound = true;
+                        }
+
+                        if( d == 'i') {
+                            rightBound = false;
+                        }
+
                         if( d == 'm') {
                             pc.printf("turning off joystick\n");
                             manual = false;
@@ -82,17 +62,8 @@
                 }
             }
 
-            else {
-                pc.printf("none \n");
-                smart.stop();
-            }
-        }
-
-        else {
-            smart.stop();
-        }
-        wait(process);
-    }
-
+    wait(process);
 }
 
+
+