Diff: main.cpp

Revision:

18:c834bd26869e

Parent:

17:e247d58d9f42

Child:

23:53cafcd67828

--- a/main.cpp	Tue Mar 11 20:22:18 2014 +0000
+++ b/main.cpp	Wed Mar 12 21:58:30 2014 +0000
@@ -56,7 +56,8 @@
         DBGPRINT("BB\n\r",1);
         leds = leds^0x7; // toggle the LEDs for each loop
         tmpchar = pc.getc();
-        
+        int testdata[]={'H','e','l','l','o'};
+        int response;
         // all of these movement commands are blocking, so they can't be easily stopped short of resetting the microcontroller
         switch(tmpchar){
             /*case 'e': //drive in a smallish square
@@ -95,8 +96,7 @@
                 break;
             case 'd': // turn back to starting rotation
                 //bot.driveForward(0,0);
-                int testdata[]={'H','e','l','l','o'};
-                int response=bot.BTLink.sendCmd(0x02,testdata,5);
+                response=bot.BTLink.sendCmd(0x02,testdata,5);
                 DBGPRINT("=%d\n\r",response);
                 break;
             case 'W': // drive forward a small bit
@@ -132,24 +132,30 @@
                 
                 // these are all control system modifications which should be fairly well locked down at this point
             case 't':
-                bot.pfac*=2;
-                DBGPRINT("pfac = %f\r\n",bot.pfac);
+                response=bot.BTLink.sendCmd(0x00,testdata,5);
+                //bot.pfac*=2;
+                //DBGPRINT("pfac = %f\r\n",bot.pfac);
+                DBGPRINT("=%d, %d\n\r",response,bot.BTLink.bufSize());
                 break;
             case 'g':
                 bot.pfac/=2;
                 DBGPRINT("pfac = %f\r\n",bot.pfac);
                 break;
             case 'y':
-                bot.ifac*=2;
-                DBGPRINT("ifac = %f\r\n",bot.ifac);
+                response=bot.BTLink.sendCmd(0x01,testdata,5);
+                //bot.ifac*=2;
+                //DBGPRINT("ifac = %f\r\n",bot.ifac);
+                DBGPRINT("=%d, %d\n\r",response,bot.BTLink.bufSize());
                 break;
             case 'h':
                 bot.ifac/=2;
                 DBGPRINT("ifac = %f\r\n",bot.ifac);
                 break;
             case 'u':
-                bot.dfac*=2;
-                DBGPRINT("dfac = %f\r\n",bot.dfac);
+                response=bot.BTLink.sendCmd(0x02,testdata,5);
+                //bot.dfac*=2;
+                //DBGPRINT("dfac = %f\r\n",bot.dfac);
+                DBGPRINT("=%d, %d\n\r",response,bot.BTLink.bufSize());
                 break;
             case 'j':
                 bot.dfac/=2;