Diff: main.cpp

Revision:

2:a5e166306da7

Parent:

1:dee6f3e0db9b

Child:

3:bc919a54f665

--- a/main.cpp	Tue Apr 07 19:46:52 2015 +0000
+++ b/main.cpp	Tue Apr 07 21:45:10 2015 +0000
@@ -6,6 +6,7 @@
 
 #include "mbed.h"
 #include "Servo.h"
+#include "SerialDriver.h"
 
 /*    --> myservo.calibrate(0.00095, 90.0); // Calibrate the servo 
       Le 0.00095 est l'ecart max entre la valeur 1.5ms qui correspond a une angle de 90 degrés : Pour ce deplacer de 0 à 180 degré on set le range 
@@ -17,8 +18,8 @@
  
 Servo steering(D5);
 Servo throttle(D6);
-Serial usb(USBTX, USBRX);
-//Serial usb(USBTX, USBRX, 1024, 512);
+//Serial usb(USBTX, USBRX);
+SerialDriver usb(USBTX, USBRX, 1024, 512);
 DigitalOut led(LED1); 
 
 unsigned char steeringUSB = 95;
@@ -26,7 +27,7 @@
 
 unsigned int time_data_check = 0;
 unsigned int time_data_check_last = 0;
-#define DEBUG 0
+#define DEBUG 1
 #define signal 255
 #define throttle_stop_ms 1.5
 #define steering_right_deg 0
@@ -68,11 +69,11 @@
             steeringUSB = usb.getc();
             //writeSteering(steeringUSB);
             steering.position(steeringUSB - 95);
-            //usb.putc(steeringUSB);
-        //    time_data_check_last = time_data_check;
+            usb.putc(steeringUSB); 
+            //time_data_check_last = time_data_check;
             //time_data_check = timer.read_ms();
             if (DEBUG) {
-        //        wait_ms(2000);
+                //wait_ms(2000);
                 led = false; 
             }
         //}
@@ -81,13 +82,12 @@
                 led = true; 
             throttleUSB = usb.getc();
             writeThrottle(throttleUSB);
-            //usb.putc(throttleUSB);
-            
+             
+            usb.putc(throttleUSB);
+  
             time_data_check_last = time_data_check;
             time_data_check = timer.read_ms();
             
-            
-            
             if (DEBUG) {
           //      wait_ms(2000);
                 led = false; 
@@ -99,12 +99,13 @@
         //emergencyCall();
         if(DEBUG){
             //wait_ms(2000);
+            
         }
         wait_ms(50);
 }
 
 void emergencyCall() {
-    int deltaTime = (DEBUG)? 10000 : 2000;
+    int deltaTime = 10000; //(DEBUG)? 10000 : 4000;
     if (time_data_check_last - time_data_check > deltaTime) {
         led = true;
         while (1) {
@@ -116,6 +117,7 @@
             if (usb.readable() && usb.getc()==255) { //Release signal
                 led = false;
                 wait_ms(1000);
+                time_data_check_last = timer.read_ms();
                 return;
             }
         }