Diff: main.cpp

Revision:

25:c4577daa425a

Parent:

24:62cad0ea47da

Child:

26:49945d96d461

--- a/main.cpp	Wed Aug 05 05:22:32 2015 +0000
+++ b/main.cpp	Tue Aug 04 22:34:15 2015 -0700
@@ -89,18 +89,22 @@
 void communicate()
 {
     led1 = 1;
+    __disable_irq();
     pi.sensor_reading(sensors);
+    __enable_irq();
     int* s = sensors; // just to make the next line more compact
-    __disable_irq();
     xbee.printf("s:%i,%i,%i,%i,%i\n", s[0], s[1], s[2], s[3], s[4]);
-    __enable_irq();
     __disable_irq();
     xbee.printf("p:%f\n", pi.line_position());
+    __enable_irq();
     xbee.printf("m:%d\n", mode);
-    __enable_irq();
     led1 = 0;
 }
 
+void signal_comm(){
+    comm_time = true;
+}
+
 int parse_command(const char* cmd)
 {
     if(cmd[1]==':'){
@@ -117,9 +121,7 @@
         // 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'){
@@ -130,9 +132,7 @@
             }else if(cmd[2]=='d'){
                 k_d = atof(&cmd[4]);
             }
-            __disable_irq();
             xbee.printf("gains p:%f, i:%f, d:%f\n", k_p, k_i, k_d);
-            __enable_irq();
   
         // battery
         }else if(cmd[0]=='b'){
@@ -140,9 +140,7 @@
             xbee.printf("battery voltage: %f\n", pi.battery());
             __enable_irq();
         }else{
-            __disable_irq();
             xbee.printf("%s\n",cmd);
-            __enable_irq();
         }
     }else{
         xbee.printf("%s\n",cmd);
@@ -150,12 +148,8 @@
     return 0;
 }
 
-void Rx_interrupt()
-{
-    // assume recursive interrupt is not possible
+void check_incoming(){
     led2 = 1;
-    char read;
-    
     while(xbee.readable()){
         read = xbee.getc();
         if(read=='\n'){
@@ -170,18 +164,16 @@
             r_index++;
         }
     }
-    
     led2=0;
-    
-    return;
 }
 
-
 void control()
 {
     if(mode==LINE_FOLLOW_MODE){
         line_follow_loop();
     }
+    pi.left_motor(rightspeed);
+    pi.right_motor(leftspeed);
 }
 
 int main() {
@@ -193,21 +185,25 @@
     pi.sensor_auto_calibrate();
     leftspeed = 0.0;
     rightspeed = 0.0;
+    char read;
     
     r_index = 0;
     received[0] = '\0';
     mode = MANUAL_MODE;
     
-    communication.attach(&communicate, 0.1);
+    communication.attach(&signal_comm, 0.1);
     controls.attach(&control, 0.02);
 
+    // main loop
     while(1){
         led3 = mode;
 
-        __disable_irq();
-        pi.left_motor(rightspeed);
-        pi.right_motor(leftspeed);
-        __enable_irq();
+        check_incoming();
+
+        if(comm_time){
+            communicate();
+            comm_time = false;
+        }
 
     }