PCDemo.h-Dateireferenz

gehe zum Quellcode dieser Datei

Funktionen
void	PCDemo (void)

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Dokumentation der Funktionen

void PCDemo

(

void

)

Definiert in Zeile 115 der Datei PCDemo.c.

{
  unsigned char cmd;
  unsigned char leftDir = FWD, rightDir = FWD;

  Init();
  SerPrint("PCDemo\r\n");
  StartSwitch();
  sei();
  for (;;)
  {
    cmd = 0;
    SerRead(&cmd,1,0xFFFE);
    switch (cmd)
    {
    case RWD_KEY :
      PCRwd();
      break;
    case FWD_KEY :
      PCFwd();
      break;
    case LEFT_KEY :
      PCLeft();
      break;
    case RIGHT_KEY :
      PCRight();
      break;
    case STOP_KEY :
      PCStop();
      break;
    case ESC_KEY :
      return;
      break;
    }
    if (speedLeft > 0 && speedLeft <  OFFSET) speedLeft += OFFSET;
    if (speedLeft < 0 && speedLeft > -OFFSET) speedLeft -= OFFSET;
    if (speedRight > 0 && speedRight <  OFFSET) speedRight += OFFSET;
    if (speedRight < 0 && speedRight > -OFFSET) speedRight -= OFFSET;

    if (switched)
    {
      speedLeft  = 0;
      speedRight = 0;
      switched = FALSE;
  // und ab gehts --- fahr zurück
      MotorDir(RWD,RWD);
      MotorSpeed(200,200);
      FrontLED(ON);
      BackLED(ON,ON);
      Msleep(1000);
    }

    leftDir = rightDir = FWD;
    if (speedLeft < 0)  leftDir = RWD;
    if (speedRight < 0) rightDir = RWD;

    if (speedLeft >   255) speedLeft  =  255;
    if (speedLeft <  -255) speedLeft  = -255;
    if (speedRight >  255) speedRight =  255;
    if (speedRight < -255) speedRight = -255;

    MotorDir(leftDir,rightDir);
    MotorSpeed(abs(speedLeft),abs(speedRight));
  }
}

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