Changeset 3a28fb6 in robotics

Timestamp:

06/16/14 16:15:03 (8 years ago)

Author:

Steve Castellotti <sc@…>

Branches:

master

Children:

c9a4851

Parents:

42180f7

Message:

• repeat function complete
• debug output added

File:

• car/firmware/car/car.ino (modified) (8 diffs)

car/firmware/car/car.ino

@@ -30 +30 @@
 #include <Servo.h>
 
+#define DEBUG_OUTPUT 1 // 1 for debug
+
 #define SERVO_PIN_BRAKE 7
 #define SERVO_PIN_DIRECTION 8
 #define SERVO_PIN_TURN 9
-
-#define DEBUG_OUTPUT 1 // 1 for debug
 
 Servo servoBrake;
@@ -41 +41 @@
 
 char _command;
+char lastCommand = '2'; // stop
 
 
@@ -115 +116 @@
     #endif
 
-    switch (_command) {
-
-      case '0':  driveRepeat(); break;
-      case '1':  driveForward(); break;
-      case '2':  driveStop(); break;
-      case '3':  driveLeft(); break;
-      case '4':  driveRight(); break;
-
-//      case 'S':  setServo(); break;
-//      case 'L':  loopServo(); break;
-
+    parseCommand(_command);
+    
+    if (_command != '0') {
+      // Don't directly set lastCommand to "repeat"
+      lastCommand = _command;
     }
     
@@ -135 +130 @@
 // ################################################################
 
+void parseCommand(char command) {
+
+    switch (command) {
+
+      case '0':  driveRepeat(); break;
+      case '1':  driveForward(); break;
+      case '2':  driveStop(); break;
+      case '3':  driveLeft(); break;
+      case '4':  driveRight(); break;
+      
+    }
+}
+
+// ################################################################
+
 void driveRepeat() {
   
+  #if DEBUG_OUTPUT
+    Serial.println("driveRepeat()");
+  #endif
+  
+  parseCommand(lastCommand);
+
 }
 
@@ -143 +159 @@
 void driveForward() {
 
+  #if DEBUG_OUTPUT
+    Serial.println("driveForward()");
+  #endif
+  
 }
 
@@ -149 +169 @@
 void driveStop() {
 
+  #if DEBUG_OUTPUT
+    Serial.println("driveStop()");
+  #endif
+  
 }
 
@@ -155 +179 @@
 void driveLeft() {
 
+  #if DEBUG_OUTPUT
+    Serial.println("driveLeft()");
+  #endif
+  
 }
 
@@ -161 +189 @@
 void driveRight() {
 
+  #if DEBUG_OUTPUT
+    Serial.println("driveRight()");
+  #endif
+  
 }