Diff: usart.cpp

Revision:

3:440e774cc24b

Parent:

1:fb4277ce4d93

Child:

4:536cd493a337

--- a/usart.cpp	Mon Mar 03 00:24:44 2014 +0000
+++ b/usart.cpp	Wed Mar 12 04:51:30 2014 +0000
@@ -4,15 +4,15 @@
 #define KEYCODE 0xAA
 #define TX_CHECKCODE (tx_data[1]^tx_data[2]^tx_data[3]^tx_data[4]^tx_data[5]^tx_data[6]^tx_data[7]^tx_data[8])
 #define RX_CHECKCODE (rx_data[1]^rx_data[2]^rx_data[3]^rx_data[4]^rx_data[5]^rx_data[6]^rx_data[7]^rx_data[8])
-#define DATA_NUM 10
+#define DATA_NUM 12
 #define CHECK (DATA_NUM - 1)
-#define ALL_IR 10
+#define ALL_IR 12
 
 
 extern Serial sensor;
 extern Serial pc;
 
-extern uint8_t value_ir, ir_num;
+extern uint8_t value_ir, ir_num, ir_dis, ball_on;
 extern uint8_t ping[4];
 extern uint8_t line[4];
 extern uint8_t ir_max, ir_num;
@@ -38,6 +38,8 @@
             ping[BACK] = rx_data[5];
             ping[RIGHT] = rx_data[6];
             compass = rx_data[7] + rx_data[8];
+            ir_dis = rx_data[9];
+            ball_on = rx_data[10];
 /*            line[FRONT] = rx_data[7];
             line[LEFT] = rx_data[8];
             line[BACK] = rx_data[9];
@@ -47,6 +49,10 @@
             //pc.printf("%d %d %d %d\n", rx_data[3], rx_data[4], rx_data[5], rx_data[6]);
             //pc.printf("%d %d %d %d\n", rx_data[7], rx_data[8], rx_data[9], rx_data[10]);
             //pc.printf("%d %d %d\n", rx_data[7], rx_data[8], compass);
+            //pc.printf("%d\n", rx_data[9]);
+            //pc.printf("%d\t%d\t%d\t%d\n", ping[FRONT], ping[LEFT], ping[BACK], ping[RIGHT]);
+            //pc.printf("%d %d  %d\n", ping[LEFT], ping[RIGHT], ping[LEFT] + ping[RIGHT]);
+            //pc.printf("%d\t%d\t%d\t%d\n", ir_dis, ball_on, value_ir, ir_num);
         }
      rx = 0;   
     }