Diff: main.cpp

Revision:

3:d473fb175cec

Parent:

2:0c88bf3817fe

Child:

4:dee1ebc51d2e

--- a/main.cpp	Wed Dec 06 08:51:19 2017 +0000
+++ b/main.cpp	Wed Dec 06 10:53:16 2017 +0000
@@ -4,7 +4,7 @@
 #define ARRAY_SIZE(array) sizeof(array)/sizeof(*array)
 
 Serial term(USBTX, USBRX);
-DigitalOut led1(LED2);
+DigitalOut led1(LED1);
 
 
 
@@ -62,6 +62,35 @@
     }
 }
 
+int *prerusVysielanie()
+{
+   
+    
+    prijmi = 1;
+    for(int i = 0; i < 4; i++) {
+        adresa[i] = term.getc();
+    }
+    
+   
+    if(adresa[3] == 0x00) {
+        sprava[0] = term.getc();
+    }else{        
+        for(int i = 0; i < adresa[3]; i++){
+            sprava[i]=term.getc();  
+            //return sprava[i];
+        }
+        adresa[4]=term.getc();
+        if(adresa[4] == getCrc(adresa[1], adresa[2],adresa[3],sprava)){
+          return sprava;
+        }
+    }
+    return sprava;
+    
+   // riadeniePohybu();
+    
+   
+}
+
 
 int dajPoschodie()
 {
@@ -100,25 +129,18 @@
 int main() {
     
     term.baud(57600);
-    
-    
-     //int aDataIn[] = {0x01,0x50,0x31,0x32};
-     //int dataSize1 = ARRAY_SIZE(aDataIn);
-     //posliSpravu(C_LCD,0xAA,dataSize1,aDataIn);
-     
-     zamkniVytah();
-     wait(1);
-     odomkniVytah();
-     wait(1);
-     zamkniVytah();
-     wait(1);
-     smerHore();disp_Vyt();
-     //wait(2);
-     //dajPoschodie();
-     //stop();
-     //int aDataIn[] = {dajPoschodie()};
-     //int dataSize1 = ARRAY_SIZE(aDataIn);
-     //posliSpravu(0xD0,0xAA,dataSize1,aDataIn);
+   
+
+      led1 = 0;
+      wait(2);
+      led1 = 1;
+      while(true){
+      
+    int aDataIn[] = {*prerusVysielanie()};
+     int dataSize1 = ARRAY_SIZE(aDataIn);
+    posliSpravu(0xD0,0xAA,dataSize1,aDataIn);
+    wait(1);
+     }
      
      
     
@@ -156,6 +178,7 @@
             int dataSize = ARRAY_SIZE(aDataIn);
             posliSpravu(MOTOR,0x00,dataSize, aDataIn); 
             smerJazdy = 1;
+            
         }
         if(pohyb > 2){
             pohyb = 0;
@@ -165,6 +188,7 @@
             int dataSize = ARRAY_SIZE(aDataIn);
             posliSpravu(MOTOR,0x00,dataSize, aDataIn); 
             smerJazdy = 1;    
+            
         } 
      
 }
@@ -184,6 +208,7 @@
             int dataSize = ARRAY_SIZE(aDataIn);
             posliSpravu(MOTOR,0x00,dataSize, aDataIn); 
             smerJazdy = -1;
+            
         }
         if(pohyb > 2){
             pohyb = 0;
@@ -193,6 +218,7 @@
             int dataSize = ARRAY_SIZE(aDataIn);
             posliSpravu(MOTOR,0x00,dataSize, aDataIn); 
             smerJazdy = -1;   
+            
         }
     
 }