Sooner Competitive Robotics
/
IEEE_14_Freescale
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IEEE_14_Freescale
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IEEE 2014 Mbed
Diff: main.cpp
- Revision:
- 26:ade7c813538f
- Parent:
- 25:f5b8b0ebdcef
- Child:
- 27:688409727452
--- a/main.cpp Thu Mar 13 06:25:31 2014 +0000
+++ b/main.cpp Fri Mar 14 00:38:51 2014 +0000
@@ -147,11 +147,12 @@
DBGPRINT("Mode0=%d, %d, %d [%d]\n\r",response,bot.BTLink.bufSize(), gotAck, dataTimer.read_ms());
break;
case 'g':
- bot.pfac/=2;
- DBGPRINT("pfac = %f\r\n",bot.pfac);
+ //bot.pfac/=2;
+ //DBGPRINT("pfac = %f\r\n",bot.pfac);
break;
case 'y':
- response=bot.BTLink.sendCmd(0x01,testdata,5);
+ bot.pollForShapes();
+ /*response=bot.BTLink.sendCmd(0x01,testdata,5);
dataTimer.start();
dataTimer.reset();
while(!(gotAck=bot.BTLink.getAck(response)) && dataTimer.read_ms()<500);
@@ -181,14 +182,14 @@
dataTimer.reset();
while(!(gotAck=bot.BTLink.getAck(response)) && dataTimer.read_ms()<500);
dataTimer.stop();
- DBGPRINT("BackToNormal=%d, %d, %d [%d]\n\r",response,bot.BTLink.bufSize(), gotAck, dataTimer.read_ms());
+ DBGPRINT("BackToNormal=%d, %d, %d [%d]\n\r",response,bot.BTLink.bufSize(), gotAck, dataTimer.read_ms());*/
//while(!bot.BTLink.getAck(response));
//bot.ifac*=2;
//DBGPRINT("ifac = %f\r\n",bot.ifac);
break;
case 'h':
- bot.ifac/=2;
- DBGPRINT("ifac = %f\r\n",bot.ifac);
+ //bot.ifac/=2;
+ //DBGPRINT("ifac = %f\r\n",bot.ifac);
break;
case 'u':
response=bot.BTLink.sendCmd(0x02,testdata,5);
@@ -218,8 +219,8 @@
//DBGPRINT("dfac = %f\r\n",bot.dfac);
break;
case 'j':
- bot.dfac/=2;
- DBGPRINT("dfac = %f\r\n",bot.dfac);
+ //bot.dfac/=2;
+ //DBGPRINT("dfac = %f\r\n",bot.dfac);
break;
case 'i':
//put distance ping here
@@ -229,32 +230,32 @@
DBGPRINT("Distance = %f\r\n",pingresult);
break;
case 'k':
- bot.angfac/=2;
- DBGPRINT("angfac = %f\r\n",bot.angfac);
+ //bot.angfac/=2;
+ //DBGPRINT("angfac = %f\r\n",bot.angfac);
break;
case 'T':
- bot.pfac*=1.05;
- DBGPRINT("pfac = %f\r\n",bot.pfac);
+ //bot.pfac*=1.05;
+ //DBGPRINT("pfac = %f\r\n",bot.pfac);
break;
case 'G':
- bot.pfac/=1.05;
- DBGPRINT("pfac = %f\r\n",bot.pfac);
+ //bot.pfac/=1.05;
+ //DBGPRINT("pfac = %f\r\n",bot.pfac);
break;
case 'Y':
- bot.ifac*=1.05;
- DBGPRINT("ifac = %f\r\n",bot.ifac);
+ //bot.ifac*=1.05;
+ //DBGPRINT("ifac = %f\r\n",bot.ifac);
break;
case 'H':
- bot.ifac/=1.05;
- DBGPRINT("ifac = %f\r\n",bot.ifac);
+ //bot.ifac/=1.05;
+ //DBGPRINT("ifac = %f\r\n",bot.ifac);
break;
case 'U':
- bot.dfac*=1.05;
- DBGPRINT("dfac = %f\r\n",bot.dfac);
+ //bot.dfac*=1.05;
+ //DBGPRINT("dfac = %f\r\n",bot.dfac);
break;
case 'J':
- bot.dfac/=1.05;
- DBGPRINT("dfac = %f\r\n",bot.dfac);
+ //bot.dfac/=1.05;
+ //DBGPRINT("dfac = %f\r\n",bot.dfac);
break;
// poll the compass ( currently gives bad values )