Diff: main.cpp

Revision:

4:ba51736778e1

Parent:

3:60722da62531

Child:

5:6ca97bfe9406

--- a/main.cpp	Fri Sep 07 03:42:26 2018 +0000
+++ b/main.cpp	Fri Sep 07 23:58:14 2018 +0000
@@ -8,7 +8,7 @@
 
 
 Serial command(USBTX, USBRX);
-
+DigitalIn button(USER_BUTTON);
 
 
 int main() {
@@ -26,16 +26,16 @@
         switch (read_cc) {
 
             case  0x01: 
-            debug_m("Tc1\n");
+            debug_m("Tc 1 Iniciado..\n");
             moving();
-            debug_m("FTc1\n");
+            debug_m("Tc 1 Finalizado\n");
             break;
             case  0x02: 
-            debug_m("Tc2 :) \n");
-            //moving();
-            debug_m("FTc2\n");
+            debug_m("Tc 2 Iniciado.. \n");
+            pares();
+            debug_m("Tc 2 Finalizado\n");
             break;
-            default: debug_m("error de comando. \nSe espera  0x01 - 0x08 \n");break ;      
+            default: debug_m("Error de comando. \nSe espera  entre 0x01 - 0x08 \n");break ;      
         }
     }
 }
@@ -49,20 +49,47 @@
    // Datos  | Inicio | Tele-comando | Numero Motor | Grados | Cierre
     //char intc=command.getc();
     buffer[0] = command.getc();
-    buffer[1] = command.getc();
-    buffer[2] = command.getc();
-    buffer[3] = command.getc();
-    buffer[4] = command.getc();
+
+ inicio:   
+  
+    while(buffer[0] != 0xFF ){
     
-    char intc = buffer[0];
-    while(intc != 0xFF){
-    
-        intc=command.getc();
+        buffer[0] = command.getc();
         
         debug_m("comando inicio invalido \n");
         }
         
-        printf("encontrado: %c \n",  buffer[0] ); 
+        printf("inicio encontrado: %c \n",  buffer[0] ); 
+        
+            buffer[1] = command.getc();
+        if (buffer[1] != 0xFF && buffer[1] != 0xFD){     
+            buffer[2] = command.getc();
+            }else{
+                buffer[0] = buffer[1];
+                goto inicio; 
+            }
+        if (buffer[2] != 0xFF && buffer[2] != 0xFD){     
+            buffer[3] = command.getc();
+            }else{
+                buffer[0] = buffer[2];
+                goto inicio; 
+            }
+        if (buffer[3] != 0xFF && buffer[3] != 0xFD){     
+            buffer[4] = command.getc();
+            }else{
+                buffer[0] = buffer[3];
+                goto inicio; 
+            }
+     //para que evalue el cierre 
+        if (buffer[4] != 0xFF && buffer[4] == 0xFD){     
+            debug_m("comando Cierre valido \n");
+            }else{
+                buffer[0] = buffer[4];
+                goto inicio; 
+            }
+
+          
+          
         //intc=command.getc();
         int tele = buffer[1];
         printf("Tele siguente: %c \n",  tele ); 
@@ -87,14 +114,28 @@
     printf("Motor: %c \n",  nmotor ); 
     char grados = buffer[3];
     printf("Grados: %c \n",  grados ); 
-    char endc = buffer[4];
-    printf("Cierre: %c \n",  endc ); 
+    //char endc = buffer[4];
+    //printf("Cierre: %c \n",  endc ); 
     mover_ser(nmotor,grados); 
     
     debug_m("fin del comado mover..\n");    
     
 }
-
+void pares(){
+    debug_m("se inicia el comado pares..\n");    
+    
+    char par = buffer[2];
+    printf("Par: %c \n",  par ); 
+    char dire = buffer[3];
+    printf("Dir: %c \n",  dire ); 
+    char endcc = buffer[4];
+    printf("Cierre: %c \n",  endcc ); 
+    while(button == 0) {
+    mover_par(par,dire); 
+    }
+    centro(par);
+    debug_m("fin del comado pares..\n"); 
+    }
 void debug_m(char *s , ... ){
     #if DEBUG
     command.printf(s);