Revision 2:325a730cd438, committed 2016-06-15

Comitter:

yruiewyrui3

Date:

Wed Jun 15 12:33:51 2016 +0000

Parent:

1:da4c204737bf

Commit message:

lux

Changed in this revision

--- a/Servo.lib	Tue Jun 14 13:32:33 2016 +0000
+++ b/Servo.lib	Wed Jun 15 12:33:51 2016 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/simon/code/Servo/#36b69a7ced07
+https://developer.mbed.org/users/yruiewyrui3/code/Servo_fullrange/#0b7244868ca2

--- a/main.cpp	Tue Jun 14 13:32:33 2016 +0000
+++ b/main.cpp	Wed Jun 15 12:33:51 2016 +0000
@@ -35,7 +35,7 @@
 //*******************KONIEC OPISU******************************************************************//
 
 bool isCorrectPacket(char *buffor){
-    if ((bufor[0]!='@') && (bufor[0]!='&'))
+    if (bufor[0]!='@')
     {
        // stm.printf("ZLY ZNAK POCZATKU\n");
        stm.printf("blad\n");
@@ -53,7 +53,7 @@
        stm.printf("blad\n");
         return false;
     }
-    if(bufor[9]!='$')
+    if((bufor[9]!='$')&&(bufor[9]!='&'))
     {
        // stm.printf("ZLY ZNAK KONCA\n");
        stm.printf("blad\n");
@@ -107,8 +107,6 @@
         //**********ODPALANIE SILNIKOW******// 
             eng_left.move(l);
             eng_right.move(p);
-            
-            stm.printf(bufor);
 }
 void move_camera()
 {
@@ -140,29 +138,7 @@
             cam_poziom.position(po);
             cam_pion.position(pi);      
 }
-void fill_buffer(int i)
-{
-    bufor[i] = stm.getc();            
-    if(i==0){
-        if((bufor[i]=='@') || (bufor[i]=='&')) //zaczynamy zapelniac bufor jak dostaniemy @
-        ++i;  
-        }
-    else if(bufor[i]=='@'){ // i != 0 //interpretujemy jakby potencjalny poczatek ramki
-        cleanBuffer(bufor);
-        //stm.printf("blad\n");
-        bufor[0]='@';
-        i=1; //bo zerowy znak '@' juz zczytal
-        }
-    else if (bufor[i]=='&'){ // i != 0 //interpretujemy jakby potencjalny poczatek ramki
-        cleanBuffer(bufor);
-        //stm.printf("blad\n");
-        bufor[0]='&';
-        i=1; //bo zerowy znak '@' juz zczytal
-        }
-    else
-        i++;
-}
- 
+
 int main(){
     int i = 0;
     cleanBuffer(bufor);
@@ -172,19 +148,29 @@
             eng_left.move(0);
             eng_right.move(0);
             }
-        //if((bufor[9] == NULL)&&(stm.readable()))
-        while (bufor[9] == NULL){
-            fill_buffer(i);
-        }           
+        if(bufor[9] == NULL){
+            bufor[i] = stm.getc();            
+            if(i==0){
+                if(bufor[i]=='@') //zaczynamy zapelniac bufor jak dostaniemy @
+                   ++i;    
+            }
+            else if(bufor[i]=='@'){ // i != 0 //interpretujemy jakby potencjalny poczatek ramki
+                cleanBuffer(bufor);
+                bufor[0]='@';
+                i=1; //bo zerowy znak '@' juz zczytal
+                }
+            else i++;
+        continue;
+        }         
         if(isCorrectPacket(bufor)){   
             t.stop();
             t.reset();
             t.start();                    
         }
-        if(bufor[0]=='@'){
+        if(bufor[9]=='$'){
         move_wheels();
         }
-        else if(bufor[0]=='&'){
+        else if(bufor[9]=='&'){
         move_camera();
         }
         i=0;