bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'car_driver/arduino/arduino.ino')
-rw-r--r--car_driver/arduino/arduino.ino14
1 files changed, 8 insertions, 6 deletions
diff --git a/car_driver/arduino/arduino.ino b/car_driver/arduino/arduino.ino
index 8e231da..5be4b2d 100644
--- a/car_driver/arduino/arduino.ino
+++ b/car_driver/arduino/arduino.ino
@@ -6,6 +6,8 @@ const int MOVE_RIGHT[2] = {1, 0}; // move right
const int MOVE_BACK[2] = {0, 1}; // move back
const int MOVE_STOP[2] = {0, 0}; // stop
+#include "drive.h"
+
void setup() {
Serial.begin(9600);
Serial.println("initialized");
@@ -35,21 +37,21 @@ void processCommand(const int x, const int y) {
}
if (x < DEADZONE && x >= 0) {
// apply brakes to motora
- brakeMotorA();
+ motor_a.brake();
} else if (x < 0) {
- motorABackward(abs(x) + 155);
+ motor_a.backward(abs(x) + 155);
} else {
// positive number: 100 + 155 = 255
- motorAForward(x + 155);
+ motor_a.forward(x + 155);
}
if (y < DEADZONE && y >= 0) {
// apply brakes to motorb
- brakeMotorB();
+ motor_b.brake();
} else if (y < 0) { // negative number: -100 + 355 = 255
- motorBBackward(abs(y) + 155);
+ motor_b.backward(abs(y) + 155);
} else {
// apply speed to motorb
- motorBForward(y + 155);
+ motor_b.forward(y + 155);
}
Serial.print("x: ");
Serial.print(String(x));