/******************** (C) COPYRIGHT 2023 GeekRebot *****************************
* File Name          : main.c
* Current Version    : V1.0  & ST 3.5.0
* Author             : zhanli 719901725@qq.com
* Date of Issued     : 2023.04.06 zhanli: Create
* Comments           : GeekRebot STM32
********************************************************************************/
#include "bsp_sys.h"
#include "stdio.h"
#include "bluetooth.h"  

unsigned char BLE_RX[64];
/**----------------------------------------------------------------------
* Function    : main
* Description : GeekRebot
* Author      : zhanli&719901725@qq.com
* Date        : 2023/04/22 zhanli
*---------------------------------------------------------------------**/ 
int main(void)
{	
	System_Init();
	Bluetooth_Init(9600);  

	Car_Stop();
	while (1)
	{
		Delay_ms(100);
		USART2_Receive(BLE_RX, 6);

		//USART2_Send(BLE_RX, 6); 
		//Delay_ms(500);
		//printf("hello world\n");
		if((BLE_RX[3] == 0xB1)&&(BLE_RX[4]==0xB5))
		{
//			SetPoint = SetPoint + 10;
			BLE_RX[3] = 0x00;
		}
		
		if((BLE_RX[3] == 0xB3)&&(BLE_RX[4]==0xB7))
		{
//			SetPoint = SetPoint - 10;
			BLE_RX[3] = 0x00;
		}
		
		if((BLE_RX[3] == 0xB2)&&(BLE_RX[4]==0xB6))
		{
			Car_Go();
		}
		if((BLE_RX[3] == 0xB4)&&(BLE_RX[4]==0xB8))
		{
		
			Car_Turn_Left();
//			Delay_ms(500);
//			Car_Go();
			BLE_RX[3] = 0x00;
		}
		if((BLE_RX[3] == 0xB5)&&(BLE_RX[4]==0xB9))
		{
			Car_Stop();
		}
		if((BLE_RX[3] == 0xB6)&&(BLE_RX[4]==0xBA))
		{

			Car_Turn_Right();
//			Delay_ms(500);
//			Car_Go();
			BLE_RX[3] = 0x00;
		}
		if((BLE_RX[3] == 0xB8)&&(BLE_RX[4]==0xBC))
		{
			Car_Back();
		} 
	}
}