CG2271_Project/buffer.c at master · ChingWhee/CG2271_Project · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
#include "buffer.h"
#include "motor.h"

extern int isMoving;
extern int isFinish;

void decodeMessage(serialData* b, int* forward_speed, int* left_speed) {

	int forward_percentage = b->forward;
	*forward_speed = (forward_percentage / 100.0) * (PWM_PERIOD - 500);

	int left_percentage = b->right;
	if (left_percentage < 0) left_percentage = left_percentage - 20;
	else if (left_percentage > 0) left_percentage = left_percentage + 20;

	if (left_percentage < -100) left_percentage = -100;
	else if (left_percentage > 100) left_percentage = 100;

	*left_speed = (left_percentage / 100.0) * (PWM_PERIOD - 500);

	if (*forward_speed == 0 && *left_speed == 0) {
		isMoving = 0;
	} else {
		isMoving = 1;
	}

	uint8_t button = b->buttons;
	if (button == 2) {
		isFinish = 1;
	} else if (button == 4) {
		isFinish = 0;
	}
}