void messaging_onMessageRead(unsigned char messageCode, unsigned char* parametersBuffer, unsigned short parametersBytesRead)
{
switch((unsigned short) messageCode)
{
case MESSAGE_CODE_TEST_CONNECTION:
testChannel();
break;
case MESSAGE_CODE_GET_VALUE_FROM_ULTRASONIC_SENSOR:
getValueFromUltrasonicSensor(parametersBuffer[0]);
break;
case MESSAGE_CODE_GET_VALUES_FROM_MAGNETOMETER:
getValuesFromMagnetometer();
break;
case MESSAGE_CODE_GET_VALUES_FROM_ACCELEROMETER:
getValuesFromAccelerometer();
break;
case MESSAGE_CODE_GET_VALUES_FROM_GYROSCOPE:
getValuesFromGyroscope();
break;
case MESSAGE_CODE_GET_BATTERY_VOLTAGE:
getBatteryVoltage();
break;
case MESSAGE_CODE_GET_CHARGER_VOLTAGE:
getChargerVoltage();
break;
case MESSAGE_CODE_CHANGE_MOTOR_STATE:
changeMotorState(parametersBuffer[0], parametersBuffer[1]);
break;
}
}
void Engine::stop()
{
Serial.println("Stopping");
changeMotorState(DIRECTION_FORWARD, 0, 0);
}
void Engine::turnRight()
{
Serial.println("Turning right");
changeMotorState(DIRECTION_RIGHT, 35, 35);
}
void Engine::turnLeft()
{
Serial.println("Turning left");
changeMotorState(DIRECTION_LEFT, 35, 35);
}
void Engine::moveBackward()
{
Serial.println("Moving backward");
changeMotorState(DIRECTION_BACKWARD, 50, 50);
}
void Engine::moveForward()
{
Serial.println("Moving forward");
changeMotorState(DIRECTION_FORWARD, 50, 50);
}
