Changeset f5d44ec in pyramid

Timestamp:

10/15/13 20:54:39 (7 years ago)

Author:

Steve Castellotti <sc@…>

Branches:

master

Children:

77a80d3

Parents:

b62ab59

Message:

• tighten up main loop

File:

• firmware/Puzzlebox_Pyramid/Puzzlebox_Pyramid.ino (modified) (7 diffs)

firmware/Puzzlebox_Pyramid/Puzzlebox_Pyramid.ino

@@ -220 +220 @@
         if (millis()-lastLoop>_IR_period) {
                 
-                if (att_buff>_attention_threshold) {
-                        
-                        // If detected Attention level is above the target threshold
-                        // then send the control command to fly the helicopter.
-                        // Otherwise send no control frames, which cause the helicopter
-                        // to land.
-                        
-                        _throttle=_throttle_hover;
-                        
-                }
-                        // Add Settings for _yaw and _pitch here for custom flight path
-                        
-                        sendCode(formCode(_throttle,_yaw,_pitch));
-                        
-                        if (modeBluetooth)
-                                Serial1.flush();
-                        
-//              }
+                // Add Settings for _yaw and _pitch here for custom flight path
+                
+                sendCode(formCode(_throttle,_yaw,_pitch));
+                
+                if (modeBluetooth)
+                        Serial1.flush();
                 
                 thisLoop = millis() - lastLoop;
@@ -253 +241 @@
         } // if (millis()-lastLoop>_IR_period)
 
-}// Main loop
+} // Main loop
 
 
@@ -271 +259 @@
                 else if (Serial1.available()) {
                         modeBluetooth = true;
+                        setColorWheel(0,0,255); // Blue
                         Serial.println("INFO: Bluetooth input received, setting modeBluetooth");
                 }
@@ -401 +390 @@
                                         
                                         
-                                        
-                                } // end if(bigPacket)     
+                                        if (att_buff>_attention_threshold) {
+                                                
+                                                // If detected Attention level is above the target threshold
+                                                // then send the control command to fly the helicopter.
+                                                // Otherwise send no control frames, which cause the helicopter
+                                                // to land.
+                                                
+                                                _throttle=_throttle_hover;
+                                        
+                                        
+                                        } else {
+                                                
+                                                _throttle=0;
+                                        
+                                        }
+                                
+                                
+                                } // end if(bigPacket)
+                                
                                 bigPacket = false;        
+                                
                         } // if (checksum == generatedChecksum)
+                        
                         else {
                                 #if DEBUG_OUTPUT
@@ -413 +421 @@
                 } // end if read 0xAA byte (170)
         } // end if read 0xAA byte (170)
-
+        
+        
 } // parseBluetooth
 
@@ -437 +446 @@
 void setupBlueToothConnection() {
         
-        setColorWheel(0,0,255); // Blue
+//      setColorWheel(0,0,255); // Blue
 
         Serial1.begin(38400); // Set Bluetooth Module BaudRate (for communicating to ADK) to default baud rate 38400
@@ -1002 +1011 @@
 
 
+