Keywish Hummer-Bot, Инструкция по эксплуатации

Страница: 107 / 108

104
Software Design
#include "protocol.h"
#include "hummerbot.h"
#include "process.h"
int E1 = 5 ; //PWMA
int M1 = 9 ; //DIRA --- left
int E2 = 6 ; //PWMB
int M2 = 10 ; //DIRB --- right
byte readbuff [ 32 ] = {};
int readlen = 0 ;
ST_protocol recv ;
hummerbot hbot ( E1 , M1 , E2 , M2 , 13 , A0 );
void setup ()
{
Serial . begin ( 9600 );
hbot . init ();
}
void read_data ( void )
{
unsigned char avilable ;
byte * p = readbuff ;
memset ( p , 0 , 32 );
readlen = 0 ;
while ( Serial . available ()> 0 )
{
if (! avilable && Serial . peek ()== START_CODE )
{
avilable = 1 ;
}
if ( avilable )
{
if ((* p = Serial . read ()) == END_CODE )
{
avilable = 0 ;