Changeset 3a28fb6 in robotics
- Timestamp:
- 06/16/14 16:15:03 (8 years ago)
- Branches:
- master
- Children:
- c9a4851
- Parents:
- 42180f7
- File:
-
- 1 edited
Legend:
- Unmodified
- Added
- Removed
-
car/firmware/car/car.ino
r42180f7 r3a28fb6 30 30 #include <Servo.h> 31 31 32 #define DEBUG_OUTPUT 1 // 1 for debug 33 32 34 #define SERVO_PIN_BRAKE 7 33 35 #define SERVO_PIN_DIRECTION 8 34 36 #define SERVO_PIN_TURN 9 35 36 #define DEBUG_OUTPUT 1 // 1 for debug37 37 38 38 Servo servoBrake; … … 41 41 42 42 char _command; 43 char lastCommand = '2'; // stop 43 44 44 45 … … 115 116 #endif 116 117 117 switch (_command) { 118 119 case '0': driveRepeat(); break; 120 case '1': driveForward(); break; 121 case '2': driveStop(); break; 122 case '3': driveLeft(); break; 123 case '4': driveRight(); break; 124 125 // case 'S': setServo(); break; 126 // case 'L': loopServo(); break; 127 118 parseCommand(_command); 119 120 if (_command != '0') { 121 // Don't directly set lastCommand to "repeat" 122 lastCommand = _command; 128 123 } 129 124 … … 135 130 // ################################################################ 136 131 132 void parseCommand(char command) { 133 134 switch (command) { 135 136 case '0': driveRepeat(); break; 137 case '1': driveForward(); break; 138 case '2': driveStop(); break; 139 case '3': driveLeft(); break; 140 case '4': driveRight(); break; 141 142 } 143 } 144 145 // ################################################################ 146 137 147 void driveRepeat() { 138 148 149 #if DEBUG_OUTPUT 150 Serial.println("driveRepeat()"); 151 #endif 152 153 parseCommand(lastCommand); 154 139 155 } 140 156 … … 143 159 void driveForward() { 144 160 161 #if DEBUG_OUTPUT 162 Serial.println("driveForward()"); 163 #endif 164 145 165 } 146 166 … … 149 169 void driveStop() { 150 170 171 #if DEBUG_OUTPUT 172 Serial.println("driveStop()"); 173 #endif 174 151 175 } 152 176 … … 155 179 void driveLeft() { 156 180 181 #if DEBUG_OUTPUT 182 Serial.println("driveLeft()"); 183 #endif 184 157 185 } 158 186 … … 161 189 void driveRight() { 162 190 191 #if DEBUG_OUTPUT 192 Serial.println("driveRight()"); 193 #endif 194 163 195 } 164 196
Note: See TracChangeset
for help on using the changeset viewer.