void RoverL298::motorCommandPercent(int motorNum, int percent)
{
if (percent == 0)
{
motorCommand(motorNum, COMMAND_BRAKE, 255);
// Serial.print("motor brake ");
// Serial.println(motorNum);
}
else if (percent < 0)
{
motorCommand(motorNum, COMMAND_REVERSE, (percent * 1.55) + 100);
// Serial.print("motor RV: ");
// Serial.print(motorNum);
// Serial.print(" @ ");
// Serial.println((percent * 1.55) + 100);
}
else
{
motorCommand(motorNum, COMMAND_FORWARD, (percent * 1.55) + 100);
// Serial.print("motor FW: ");
// Serial.print(motorNum);
// Serial.print(" @ ");
// Serial.println((percent * 1.55) + 100);
}
}
void comHandler() {
if (commandBuffer[0] == SOP) {
switch (commandBuffer[1]) {
case 'M':
motorCommand();
break;
case 'S':
//servo command
Serial.print(commandBuffer);
break;
case 'R':
// request for data
if (commandBuffer[2] == 'B') {
char tb[10];
sprintf(tb, "<B,%d>", analogRead(A0));
strcpy(returnBuffer, tb);
returnReady = true;
} else {
Serial.print(commandBuffer);
}
break;
default:
return;
}
}
}
void Trex_Rover::accelMotors(int left, int right)
{
uint8_t cmd[3];
motorCommand(Accelerate_Motors, left, right, cmd);
_trex.sendCommand(cmd);
}
void Trex_Rover::setMotors(int left, int right)
{
uint8_t cmd[3];
motorCommand(Set_Motors, left, right, cmd);
_trex.sendCommand(cmd);
}
