From 13a2ff28cb287e152a88bc64ff10a5b3ac642e9c Mon Sep 17 00:00:00 2001
From: RicardoEA <ricardo.ercoli@fing.edu.uy>
Date: Thu, 26 Jan 2023 21:03:32 -0300
Subject: [PATCH] Eliminate hardcoded moves
---
Robotito/src/main.c | 9 ++-------
1 file changed, 2 insertions(+), 7 deletions(-)
diff --git a/Robotito/src/main.c b/Robotito/src/main.c
index 37eb3b8..8a8340e 100644
--- a/Robotito/src/main.c
+++ b/Robotito/src/main.c
@@ -27,7 +27,7 @@
static const char *tag = "UART EVENT";
#define UART_NUM UART_NUM_2
-#define FLOAT_BUF_SIZE 1
+#define FLOAT_BUF_SIZE 3
#define BUF_SIZE FLOAT_BUF_SIZE * sizeof(float)
#define TASK_MEMORY 1024 * 2
@@ -50,11 +50,7 @@ static void uart_task(void *pvParameters)
len = uart_read_bytes(UART_NUM, data, BUF_SIZE, portMAX_DELAY);
if (len == BUF_SIZE){
memcpy(&fdata, data , sizeof(fdata));
- for (int i = 0; i < FLOAT_BUF_SIZE; i++)
- {
- printf("El dato %d en float es: %f \n",i, fdata[i]);
- }
- // decodificar mensaje y hacer omni_drive
+ omni_drive(fdata[0], fdata[1], fdata[2], 0);
uart_flush(UART_NUM);
}else{
printf("Todavia no se completo el mensaje o hay un error. \n");
@@ -93,7 +89,6 @@ void app_main(void)
omni_init();
omni_set_enable(true);
while (1) {
- omni_drive(0,0,PI/4,0);
vTaskDelay( 300000/ portTICK_RATE_MS);
}
}
\ No newline at end of file
--
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