Zachary Sunberg / Mbed 2 deprecated SAILORSbot_student

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Dependencies:   mbed

Fork of SAILORSbot by Zachary Sunberg

Diff: main.cpp

Revision:
32:7e518320305f
Parent:
31:e36b7722df56
Child:
33:3b768c7201c9
--- a/main.cpp	Fri Aug 07 05:34:13 2015 +0000
+++ b/main.cpp	Mon Aug 10 00:05:33 2015 +0000
@@ -117,13 +117,10 @@
         // mode
         }else if(cmd[0]=='c'){
             mode = atoi(&cmd[2]);
-            __disable_irq();
             xbee.printf("a:c:%d\n", mode);// acknowledge the mode change
-            __enable_irq();
             // xbee.printf("mode set to %d\n", mode);
         // gains
         }else if(cmd[0]=='g'){
-            __disable_irq();
             if(cmd[2]=='p'){
                 k_p = atof(&cmd[4]);
                 xbee.printf("k_p: %f\n", k_p);
@@ -137,13 +134,10 @@
                 speed = atof(&cmd[4]);
                 xbee.printf("speed: %f\n", speed);
             }
-            __enable_irq();
             // xbee.printf("gains p:%f, i:%f, d:%f\n", k_p, k_i, k_d);
         // battery
         }else if(cmd[0]=='b'){
-            __disable_irq();
             xbee.printf("battery voltage: %f\n", pi.battery());
-            __enable_irq();
         // turn
         }else if(cmd[0]=='t'){
             float dir = 0.0;
@@ -153,14 +147,10 @@
                 dir = -1.0;
             }
             start_turn(dir);
-            __disable_irq();
             xbee.printf("a:c:%d\n", TURN_MODE);
-            __enable_irq();
         }else if(cmd[0]=='n'){
             start_nudge(atof(&cmd[2]));
-            __disable_irq();
-            xbee.printf("a:c:%d\n", NUDGE_MODE);
-            __enable_irq();    
+            xbee.printf("a:c:%d\n", NUDGE_MODE);   
         
         // parse your own commands here
         ///////////////////////////////