Ironcup Mar 2020
Dependencies: mbed mbed-rtos MotionSensor EthernetInterface
Protocol/receiver.cpp
- Committer:
- drelliak
- Date:
- 2016-04-11
- Revision:
- 0:88faaa1afb83
- Child:
- 8:a1067fcde341
File content as of revision 0:88faaa1afb83:
/* Copyright 2016 Erik Perillo <erik.perillo@gmail.com> This file is part of piranha-ptc. This is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this. If not, see <http://www.gnu.org/licenses/>. */ #include "receiver.h" uint16_t read(Serial& serial) { int i; uint16_t value = 0; char chr; for(i=0; i<2; i++) while(true) if(serial.readable()) { chr = serial.getc(); value = value | chr << i*8; break; } return value; } float un_scale(uint16_t value, float min, float max) { return ((float)value)/((1 << 16) - 1)*(max - min) + min; } float get_param(Serial& serial, float min, float max) { uint16_t value; value = read(serial); return un_scale(value, min, max); } void get_pid_params(Serial& serial, float* kp, float* ki, float* kd, float* n) { *kp = get_pid_param(serial); *ki = get_pid_param(serial); *kd = get_pid_param(serial); *n = get_pid_param(serial); }