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blackbox.cpp
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blackbox.cpp
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#include "blackbox.h"
#include "dataConvertion.h"
#include "motor.h"
#include "test.h"
#include "Arduino.h" //Permite utilizar los comandos de Arduino
#define MOTOR1 0
#define MOTOR2 1
#define TIME 10 //microseconds
#define MIDSPEED 10
#define BT_STOPSIGNAL 'w'
unsigned char testspeed = 150;
void Start_system(void)
{
Start_motors();
Start_data_convertion();
}
float test (void)
{
float result;
Motor_Forward(testspeed,MOTOR1);
Motor_Forward(testspeed,MOTOR2);
result = test_sensor();
if(10 < testspeed)
{
testspeed -= 1;
}
else
{
testspeed = 15;
}
delay(100);
return result;
}
float test_sensor(void)
{
float distance;
distance = read_speed();
return distance;
}
float read_speed(void)
{
float data;
data = Calculate_distance();
data = convert_distance2speed(data);
return data;
}
void response(float out_data)
{
int Speed=125;
char BT_datareaded;
Speed =1;
BT_datareaded=0;
Speed =map(out_data,0,1000,0,150);
/*if(BT_STOPSIGNAL == BT_datareaded)
{
Motor_Stop(MOTOR1);
Motor_Stop(MOTOR2);
}
else
{*/
/*convert the output of PID to data to PWM*/
Motor_Forward(Speed,MOTOR1);
Motor_Forward(Speed,MOTOR2);
//}
delay(100);
}
void sent(float data)
{
data = data;
}
void test_motors (void)
{
Motor_Forward(MIDSPEED,MOTOR2);
Motor_Forward(MIDSPEED,MOTOR1);
delay(10000);
Stop_motors();
}
void Stop_motors(void)
{
Motor_Stop(MOTOR2);
Motor_Stop(MOTOR1);
}
/*
void BT_CARCULATOR_INSTRUCTIONS_2MOVE(char data)
{
if (data == '1')
{
//Arriba_Izquierda
}
if (data == '2')
{
//Derecho
}
if (data == '3')
{
//Arriba_Derecha
}
if (data == '4')
{
//Girar a la izquierda
}
if (data == '5')
{
//Serial.println("Logo talos");
}
if (data == '6')
{
//Girar a la derecha
}
if (data == '7')
{
//Abajo Izquierda
}
if (data == '8')
{
//Reversa
}
if (data == '9')
{
//Abajo Derecha
}
if (data == 'w')
{
//STOP
}
}
*/