void loop() {
if ((unsigned long) (millis() - previousEth) >= interval_ethernet) { //entra a cada 50ms
previousEth = millis();
if(count_eth == 0) { //espera completar um ciclo de todas as funções chamadas
int packetSize = Udp.parsePacket();
count_eth = 2;
Serial.println("entrou eth");
received = 0;
if (packetSize) {
set_debug(PC3);
#ifdef debug
Serial.println("entrou eth RX ");
Serial.print("Received packet of size ");
Serial.println(packetSize);
Serial.print("From ");
IPAddress remote = Udp.remoteIP();
for (int i =0; i < 4; i++)
{
Serial.print(remote[i], DEC);
if (i < 3)
{
Serial.print(".");
}
}
Serial.print(", port ");
Serial.println(Udp.remotePort());
Serial.println("Contents:");
Serial.println(packetBuffer);
#endif
received = Udp.read();
charBuffer.put(received);
#ifdef debug
Serial.println("\rchar recebido:");
Serial.write(received);
#endif
/////////////////////////////
clear_debug(PC3);
}
} else {
count_eth--;
Serial.println("entrou eth NADA");
if (charBuffer.getSize() > 5) charBuffer.clear();
if( charBuffer.getSize() > 0 )
received = charBuffer.get();
Serial.println("received:");
Serial.println(received);
}
}
#ifdef debug
Serial.println("client disconnected");
#endif
/****************FIM ROTINA ETHERNET ***************************************************/
if ((unsigned long) (millis() - previousADC) >= interval_adc) { //entra a cada 60ms
previousADC = millis();
set_debug(PC4);
if (count_adc == 0) {
count_adc = 1;
/*testa obstaculo IR*/
Serial.println("entrou adc OBSTACULO ");
IR_obstaculo = 0;
IR_obstaculo = verificaObstaculoIR();
#ifdef debug
Serial.println("distancia_ir");
Serial.println(IR_obstaculo);
Serial.println("\r");
#endif
if (IR_obstaculo > IR_OBSTACLE_THRESHOLD)
obstacle_flag = 0;
else if (IR_obstaculo > IR_OBSTACLE_THRESHOLD
&& IR_obstaculo < IR_OBSTACLE_UPPER_THRESHOLD)
obstacle_flag = 1;
else if (IR_obstaculo <= IR_OBSTACLE_THRESHOLD)
obstacle_flag = 2;
clear_debug(PC4);
} else {
count_adc=0;
Serial.println("entrou adc NADA ");
}
}
/***************** FIM ROTINA ADC********************************/
if ((unsigned long) (millis() - previousMotores) >= interval_motores) { //entra a cada 100ms
previousMotores = millis();
if (ciclosClock_motor == 2) { //duas bordas de subida depois de acionar o motor (200ms depois de acionar o motor)
Serial.println("motor stop ");
stopMove();
ciclosClock_motor = 0;
}
if (count_motor == 0) {
Serial.println("motor ANDA ");
if (obstacle_flag == 0 || obstacle_flag == 1) {
count_motor = 1;
/*move motores*/
switch (received) {
case 'u':
goForward(obstacle_flag);
break;
case 'd':
goBack(obstacle_flag);
break;
case 'l':
goLeft(obstacle_flag);
break;
case 'r':
goRight(obstacle_flag);
break;
default:
received = 0;
stopMove();
break;
}
} else {
if (received == 'd') {
goBack(WITH_CARE);
} else {
stopMove();
}
}
} else {
ciclosClock_motor++;
count_motor = 0;
Serial.println("ciclosClock_motor++ ");
}
}
// _delay_ms(500);
}
context::context()
:m_next_cb_ref(0)
{
clear_debug();
}
