Diff: main.cpp

Revision:

4:adc885f4ab75

Parent:

3:a223b0bf8256

Child:

6:62d498ee97cf

diff -r a223b0bf8256 -r adc885f4ab75 main.cpp
--- a/main.cpp	Sun Nov 17 04:15:18 2013 +0000
+++ b/main.cpp	Sun Nov 17 21:04:47 2013 +0000
@@ -11,6 +11,7 @@
     char tmpchar = 0;
     leds = 0x2;
     const int* constbuf;
+    double targetAngle=0.0;
     while(1) {
         DBGPRINT("BB\n\r",1);
         leds = leds^0x7;
@@ -21,10 +22,29 @@
                 constbuf = bot.bigenc.getVals();
                 DBGPRINT("\n\r%d\t%d\t%d\t%d\n\r",constbuf[0],constbuf[1],constbuf[2],constbuf[3]);
                 break;
+            case 'z':
+                targetAngle = bot.gyro.getZDegrees();
+                break;
             case 'w':
                 bot.left.setPower(0.2);
                 bot.right.setPower(0.2);
                 break;
+            case 'W':
+                bot.driveForward(targetAngle,1000);
+                DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
+                break;
+            case 'E':
+                bot.driveForward(targetAngle,5000);
+                DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
+                break;
+            case 'X':
+                bot.driveForward(targetAngle,-1000);
+                DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
+                break;
+            case 'C':
+                bot.driveForward(targetAngle,-5000);
+                DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
+                break;
             case 'a':
                 bot.left.setPower(-0.1);
                 bot.right.setPower(0.2);
@@ -39,6 +59,65 @@
             case 'l':
                 bot.gyro.calibrate();
                 break;
+            case 't':
+                bot.pfac*=2;
+                DBGPRINT("pfac = %f\r\n",bot.pfac);
+                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);
+                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);
+                break;
+            case 'j':
+                bot.dfac/=2;
+                DBGPRINT("dfac = %f\r\n",bot.dfac);
+                break;
+            case 'i':
+                bot.angfac*=2;
+                DBGPRINT("angfac = %f\r\n",bot.angfac);
+                break;
+            case 'k':
+                bot.angfac/=2;
+                DBGPRINT("angfac = %f\r\n",bot.angfac);
+                break;
+            case 'T':
+                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);
+                break;
+            case 'Y':
+                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);
+                break;
+            case 'U':
+                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);
+                break;
+            case 'Q':
+                DBGPRINT("Compass vector = %d\t%d\t%d\r\n",bot.gyro.xmag,bot.gyro.ymag,bot.gyro.zmag);
+                break;
             default:
                 bot.left.brake();
                 bot.right.brake();