Diff: main.cpp

Revision:

10:ca38e4d775c8

Parent:

9:e8c6a414e226

Child:

11:6bbe8da4b16a

--- a/main.cpp	Thu May 21 15:35:04 2020 +0000
+++ b/main.cpp	Fri May 22 12:01:26 2020 +0000
@@ -17,6 +17,8 @@
 
 #define DIR_LEFT 0
 #define DIR_RIGHT 1
+//попробовать поменять дир_лефт на -1
+
 
 DigitalOut RCout(D10);
 DigitalOut dir(D9);
@@ -284,6 +286,14 @@
     }
 }
 
+int dirCounter = 0;
+int perCounter = 0;
+
+void changeDir(int direction)
+{
+        dir = direction;
+}
+
 void Rx_interrupt() {
     int command = rpc.getc();
     switch (command) {
@@ -295,24 +305,34 @@
             speedTicker.attach(calcSpeed, 1);
             break;
         case 65:
-            int direction = rpc.getc();
-            if (direction <= 0) {
-                if (dir != DIR_RIGHT) {
-                dir = DIR_RIGHT;
+            if (dirCounter == 10) {
+                dirCounter = 0; 
+                int direction = rpc.getc();
+                if (direction <= 0) {
+                    if (dir != DIR_RIGHT) {
+                    changeDir(DIR_RIGHT);
+                    }
+                } else if (direction > 0) {
+                    if (dir != DIR_LEFT) {
+                        changeDir(DIR_LEFT);    
+                    }
                 }
-            } else if (direction > 0) {
-                if (dir != DIR_LEFT) {
-                    dir = DIR_LEFT;    
-                }
+            } else {
+                dirCounter += 1;
             }
             break;
         case 70:
-            int newPeriod = rpc.getc();
-            if (newPeriod < 26) {
-                tick.detach();
-            } else if (period_us != newPeriod) {
-                period_us = newPeriod;
-                periodUpdated = true;
+            if (perCounter == 40) {
+                perCounter = 0;
+                int newPeriod = rpc.getc();
+                if (newPeriod < 26) {
+                    tick.detach();
+                } else if (period_us != newPeriod) {
+                    period_us = newPeriod;
+                    periodUpdated = true;
+                }
+            } else {
+                perCounter += 1;
             }
             break;
         default:
@@ -382,6 +402,6 @@
             default:
                 break;
         }
-        wait_ms(100);
+        //wait_ms(100);
     }
 }
\ No newline at end of file