Diff: main.cpp

Revision:

5:714f1a772584

Parent:

4:3408903ad725

Child:

6:1c68c8eb8082

--- a/main.cpp	Mon Mar 14 15:48:00 2016 +0000
+++ b/main.cpp	Tue Mar 22 02:21:14 2016 +0000
@@ -11,6 +11,8 @@
 #define xmagm  1.33
 #define ymagp  1.38
 #define ymagm  1.75
+#define over   0.2
+#define under  -0.2
 /*header list */
 #define turn 0xFF
 #define velocity 0xFA
@@ -35,7 +37,7 @@
     }else if(1.1<x){
         x=((x-1)*-1)*xmagm;
         counter +=2;
-    }if((0.1>x)&&(-0.1<x)){
+    }if((over>x)&&(under<x)){
         x = 0; 
     }
     if(1.1>y){
@@ -44,7 +46,7 @@
     }else if(1.1<y){
         y=((y-1)*-1)*ymagm;
         counter +=8;
-    }if((0.1>y)&&(-0.1<y)){
+    }if((over>y)&&(under<y)){
         y = 0;
     }
     *p = x*x+y*y;
@@ -79,16 +81,19 @@
 }
 
 int main() {
-    uint8_t deg,dire2;
+    uint8_t deg,dire2,right,left;
     float dire1;
     Xbee.baud(9600);
     while(1) {
+        right = RT*255;
+        left  = LT*255;
         deg = getdeg(&dire1);
         dire2=255*dire1;
         Xbee.putc(255);
         Xbee.putc(deg);
-        Xbee.putc(dire2);
-        printf("%d,%d\n",deg,dire2);
+        Xbee.putc(right);
+        Xbee.putc(left);
+        printf("%d,%d,%d,%d\n",deg,dire2,right,left);
         wait(0.1);
     }
 }