uint16_t DFRobot2WD::lireTelecommande(void)
/**
* \brief renvoie le code de la touche envoyé par la télécommande infrarouge
* \return 2 octets correspondant au code de la touche
* Cette fonction n'utilise pas le processus d'interruption
*
* exemple:
* int codeIR = terminator.lireTelecommande();
* Serial.println(codeIR, HEX);
*/
{
timer1_init();
remote_decode();
return ir_code;
}
void main()
{
uint8_t sw1,sw2,i;
uint16_t k;
int16_t backemf;
int8_t d1,d2;
uint8_t show[3] = {0,'f','b'};
init_board();
d1 = 0;
d2 = 0;
backemf =0;
while (1)
{
sw1 = _7SEGMENT_SW1_IN_PORT & _7SEGMENT_SW1;
if (!sw1) // SW1 Press
{
d1++;
if (d1 > MOTOR_BACKWARD)
d1 = MOTOR_STOP;
for (k = 0; k < 500 ;k++) // Delay for key bounce
delay(6000);
g_mode[0] = d1;
g_angle[0] = 1; // Continuous move
}
sw2 = _7SEGMENT_SW2_IN_PORT & _7SEGMENT_SW2;
if (!sw2) // SW2 Press
{
d2++;
if (d2 > MOTOR_BACKWARD)
d2 = MOTOR_STOP;
for (k = 0; k < 500 ;k++) // Delay for key bounce
delay(6000);
g_mode[1] = d2;
g_angle[1] = 1; // Continuous move
}
// Command decode
if ( g_cmd_decode)
{
// Decode command
cmd_decode (g_rcv_buff);
g_cmd_decode = 0;
// g_pos[g_motor] = 0;
}
if(g_ircode)
{
remote_decode (g_ircode);
g_ircode =0;
}
for (i = 0 ; i < MOTOR_MAX ; i++)
{
// 7 Segments display
d7segment_display(show[g_mode[i]],i+1);
delay(500);
}
}
}
