bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'car_driver/arduino/arduino.ino')
-rw-r--r--car_driver/arduino/arduino.ino55
1 files changed, 0 insertions, 55 deletions
diff --git a/car_driver/arduino/arduino.ino b/car_driver/arduino/arduino.ino
deleted file mode 100644
index 3150ea8..0000000
--- a/car_driver/arduino/arduino.ino
+++ /dev/null
@@ -1,55 +0,0 @@
-#define HEADER 'H'
-
-const int MOVE_FORWARD[2] = {0, 2}; // 2 == -1 == up
-const int MOVE_LEFT[2] = {2, 0}; // move left
-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
-
-int8_t prev_a = 0, prev_b = 0;
-bool isserial = false;
-
-#include "Streaming.h"
-#include "drive.h"
-#include "infared.h"
-
-void setup() {
- Serial.begin(9600);
- Infared::begin();
- Serial.println(F("initialized"));
- Serial.setTimeout(10);
- begin();
-}
-
-void loop() {
- int8_t a = 255, b = 255;
- if (Serial.available() > 0) {
- isserial = true;
- String string = Serial.readString();
- string.trim();
- char header = string[0];
- if (header == HEADER) {
- int delimiter = string.indexOf(',');
- a = string.substring(1, delimiter).toInt();
- b = string.substring(delimiter + 1).toInt();
- }
- } else if (not isserial) {
- Infared::loop();
- a = Infared::motor_a();
- b = Infared::motor_b();
- }
- if (a != 255 and b != 255)
- processCommand(a, b);
-}
-
-// @param cmd the thing that tells it what to do, motor1, motorb
-void processCommand(const int8_t a, const int8_t b) {
- if (a > 100 || a < -100 || b > 100 || b < -100) {
- Serial << F("invalid command") << a << ',' << b << endl;
- return;
- }
-
- prev_a = a, prev_b = b;
-
- speed(a, b);
-} \ No newline at end of file