Dominik Święch
/
Kola_Servo_nowe
nowe + funkcje
Fork of CZOSN by
Diff: main.cpp
- Revision:
- 1:da4c204737bf
- Parent:
- 0:2e73d45d090e
--- a/main.cpp Tue Jun 14 12:32:39 2016 +0000 +++ b/main.cpp Tue Jun 14 13:32:33 2016 +0000 @@ -140,7 +140,7 @@ cam_poziom.position(po); cam_pion.position(pi); } -void fill_buffer() +void fill_buffer(int i) { bufor[i] = stm.getc(); if(i==0){ @@ -165,6 +165,7 @@ int main(){ int i = 0; + cleanBuffer(bufor); stm.baud(115200); while(true){ if(t.read_ms()>200){ //jesli przez ponad 200ms nie ma nowej ramki, zatrzymujemy robota @@ -172,9 +173,8 @@ eng_right.move(0); } //if((bufor[9] == NULL)&&(stm.readable())) - if(bufor[9] == NULL){ - fill_buffer(); - continue; + while (bufor[9] == NULL){ + fill_buffer(i); } if(isCorrectPacket(bufor)){ t.stop();