Revision 5:854aea46d7b8, committed 2015-05-03

Comitter:

mb4899

Date:

Sun May 03 01:20:15 2015 +0000

Parent:

4:c7a00aca4520

Commit message:

Added "Protocol" header file and updated "main" file accordingly

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Protocol.h	Sun May 03 01:20:15 2015 +0000
@@ -0,0 +1,16 @@
+#ifndef PROTOCOL_H
+#define PROTOCOL_H
+
+// Commands from Wordset 1
+#define MOVE        1
+#define TURN        2
+#define RUN         3
+#define STOP        6
+
+// Commands from Wordset 2
+#define LEFT        0
+#define RIGHT       1
+#define FORWARD     4
+#define BACKWARD    5
+
+#endif
\ No newline at end of file

--- a/main.cpp	Thu Apr 30 01:40:02 2015 +0000
+++ b/main.cpp	Sun May 03 01:20:15 2015 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "m3pi.h"
+#include "Protocol.h"
 
 Serial xbee(p28, p27);
 m3pi m3pi;
@@ -7,70 +8,81 @@
 void set_command();
 void execute();
 
-// Once we're finished, these can go in a separate header file:
-
-const int WORDSET1[4] = {1, 2, 3, 6};
-const int WORDSET2[4] = {0, 1, 4, 5};
-
-//int args[3] = {6, 0, 0}; // Initial arguments for wordsets 1-3
-int command1;
-int command2;
-int command3;
+int commands[3];
 
 int main()
 {
     m3pi.cls();
     
-    command1 = 6;
-    command2 = 0;
-    command3 = 0;
+    // Set initial "default" commands for m3pi
+    // Action (stop), Direction (left), and Duration (zero), respectively
+    commands[0] = 6; commands[1] = 0; commands[2] = 0;             
     
     while (1) {
         if (xbee.readable()) {
-            xbee.scanf("|%i,%i,%i@", &command1, &command2, &command3);
+            xbee.scanf("|%i,%i,%i@", &commands[0], &commands[1], &commands[2]);
         }
+        
         m3pi.locate(0,1);
-        m3pi.printf("%i,%i,%i", command1, command2, command3);
+        m3pi.printf("%i,%i,%i", commands[0], commands[1], commands[2]);
         execute();
     }
 }
 
 void execute()
 {
-    float speed = 0.25; // Default initial speed
-    float turn_speed = 0.125; // Default turn speed
+    float speed = 0.25;         // Default initial speed
+    float turn_speed = 0.125;   // Default turn speed
     
-    // If first argument...
-    switch (command1) {
-        case 1:                           // is "move",
-            if (command2 == WORDSET2[2]) {           // only proceed if second argument is "forward",
+    // For ease in switch block readability
+    int action = commands[0];
+    int direction = commands[1];
+    int duration = commands[2];
+
+    switch (action) {
+        case MOVE:
+            if (direction == FORWARD) {
                 m3pi.forward(speed);
-            } else if (command2 == WORDSET2[3]) {    // or if second argument is "backward"
+            } else if (direction == LEFT) {
+                m3pi.left(turn_speed);
+                m3pi.forward(speed);
+            } else if (direction == RIGHT) {
+                m3pi.right(turn_speed);
+                m3pi.forward(speed);
+            } else if (direction == BACKWARD) {
                 m3pi.backward(speed);
             } break;
             
-        case 2:                           // is "turn",
-            if (command2 == WORDSET2[0]) {           // only proceed if second argument is "left",
+        case TURN:
+            if (direction == LEFT) {
                 m3pi.left(turn_speed);
-            } else if (command2 == WORDSET2[1]) {    // or if second argument is "right"
+            } else if (direction == RIGHT) {
                 m3pi.right(turn_speed);
             } break;
             
-        case 3:                           // is "run",
-            if (command2 == WORDSET2[2]) {           // only proceed if second argument is "forward",
-                speed *= 2;                         // (then, double speed)
+        case RUN:
+            if (direction == FORWARD) {
+                speed *= 2;
                 m3pi.forward(speed);
-            } else if (command2 == WORDSET2[3]) {    // or if second argument is "backward"
-                speed *= 2;                         // (then, double speed)
+            } else if (direction == LEFT) {
+                m3pi.left(turn_speed);
+                speed *= 2;
+                m3pi.forward(speed);
+            } else if (direction == RIGHT) {
+                m3pi.right(turn_speed);
+                speed *= 2;
+                m3pi.forward(speed);
+            } else if (direction == BACKWARD) {
+                speed *= 2;
                 m3pi.backward(speed);
             } break;
             
-        case 6:                           // is "stop",
+        case STOP:
             m3pi.stop();
-            break;                                  // do nothing (robot will stop once out of the switch block)
+            break;
     }
     
-    wait(command3);                                  // Set execution time of command
+    wait(duration);
     m3pi.stop();
-    command1 = 6; command2 = 0; command3 = 0;
+    commands[0] = 6; commands[1] = 0; commands[2] = 0; // Reset "defaults"
 }
\ No newline at end of file