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main + engine
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Diff: main.cpp
- Revision:
- 0:2294f5ee0610
- Child:
- 1:cad75f28ec58
diff -r 000000000000 -r 2294f5ee0610 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Jun 01 10:47:53 2016 +0000 @@ -0,0 +1,78 @@ +#include "mbed.h" +#include "Engine.h" + +Serial stm(PA_2, PA_3); +char bufor[8]; +char prawa[3]; +char lewa[3]; +int p=0; +int l=0; + +int main(){ + Engine eng_left = Engine(PB_13, PB_4, PB_10); + Engine eng_right = Engine(PB_14, PB_5, PB_3); + int i = 0; + stm.baud(115200); + + while(true){ + bufor[i] = stm.getc(); + if(bufor[7] == NULL) + { + ++i; + continue; + } + + /*for (int j=0; j<8; j++) + { + stm.putc(bufor[j]); + }*/ + for(int j=0; j<=2; j++) + { + lewa[j]=bufor[j+1]; + } + for(int k=0; k<=2; k++) + { + prawa[k]=bufor[k+5]; + } + sscanf(prawa, "%3d", &p); + sscanf(lewa, "%3d", &l); + + if(abs(l)>100) { + l=100; + } + if(abs(p)>100) { + p=100; + } + + stm.printf("liczba lewa: %d \n", l); + stm.printf("liczba prawa: %d \n", p); + + if(bufor[0]=='-') l=-l; + if(bufor[4]=='-') p=-p; + + eng_left.move(l); + eng_right.move(p); + + if ((l==0) && (p==0)) { + stm.printf("Pale gume w miejscu bo kazali mi stac"); + } + else if ((l>0)&& (p>0)){ + stm.printf("Jade do przodu. Predkosc lewej strony to %d, a prawej strony to %d \n", l, p); + } + else if ((l<0)&& (p<0)){ + stm.printf("Jade do tylu. Predkosc lewej strony to %d, a prawej strony to %d \n", l, p); + } + else if ((l>=0)&& (p<=0)){ + stm.printf("Obracam sie w prawo. Predkosc lewej strony to %d, a prawej strony to %d \n", l, p); + } + else if ((l<=0)&& (p>=0)){ + stm.printf("Obracam sie w lewo. Predkosc lewej strony to %d, a prawej strony to %d \n", l, p); + } + + i=0; + for (int j=0; j<8; j++) + { + bufor[j]=NULL; + } + } +} \ No newline at end of file