Diff: main.cpp

Revision:

2:676f5b6f9598

Parent:

1:d65338ce2e7c

--- a/main.cpp	Wed Aug 23 03:11:41 2017 +0000
+++ b/main.cpp	Fri Jul 27 06:20:54 2018 +0000
@@ -1,40 +1,208 @@
 #include "mbed.h"
+#include "stepper.h"
 #include "SDFileSystem.h"
 
 // mosi, miso, sclk, name
-SDFileSystem sd(PB_15, PB_14, PB_13, PA_9, "sd"); 
+SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
+
+
+typedef enum {
+    PointerS,PointerW,PointerX,PointerY,PointerZ,PointerA,PointerL,PointerWW
+} STATE;                     //定义结构体枚举类型STATE
+
+
+Serial pc(PA_9, PA_10);    //定义引脚
+Serial bt(PB_10, PB_11);
+stepperMotor motorX(PC_5, PC_4, PD_2, PC_8, 0.0002);
+stepperMotor motorY(PA_5, PA_4, PA_2, PA_6, 0.0002);
+stepperMotor motorZ(PC_3, PC_2, PC_13, PC_6, 0.0002);
+//DigitalIn swX(PA_6);
+//DigitalIn swY(PA_6);
+//DigitalIn swZ(PA_6);
+float X , Y , Z , A;              // 定义浮点数值用以储存返回给机械臂的执行步数
+const char* strX;                 //定义全局变量X,Y,Z,A字符串指针
+const char* strY;
+const char* strZ;
+const char* strA;
+//stringstream ss;
+char buf[256];
+int cur;
+bool received,start;
+
+void init()        //复位函数
+{
+    stepperMotor motorX(PC_5, PC_4, PD_2, PC_8, 0.0005);
+    stepperMotor motorY(PA_5, PA_4, PA_2, PA_6, 0.0005);
+    stepperMotor motorZ(PC_3, PC_2, PC_13, PC_6, 0.0005);      //复位速度要变慢
+    int steps = -12000;
+    motorX.enable(steps);
+    while(motorX.remain != 0);
+    motorY.enable(steps);
+    while(motorY.remain != 0);
+    motorZ.enable(steps);
+    while(motorZ.remain != 0);
+}
+
+
+
+void btInterrupt()    //中断接收函数
+{
+    if(!bt.readable())
+        return;
+    char strRe1;                          //定义字符串
+    static STATE State = PointerS;        // 初始状态待检查
+    strRe1 = bt.getc();                   //读取一个byte数据
+
+    switch(State) {
+        case PointerS:
+            if (strRe1 == (char)'S') {
+                State = PointerW;        //准备跳转至数据选择
+                cur = 0;
+            } else
+                State = PointerS;
+            break;
+        case PointerW:
+            switch (strRe1) {
+                case (char)'X':
+                    State = PointerX;
+                    break;
+                case (char)'Y':
+                    State = PointerY;
+                    break;
+                case (char)'Z':
+                    State = PointerZ;
+                    break;
+                case (char)'S':
+                    State = PointerS;
+                    break;
+                case (char)'L':
+                    State = PointerL;
+                    break;
+                case (char)'W':
+                    State = PointerWW;
+                    break;
+                case (char)'A':
+                    State = PointerA;
+                    break;
+            }
+        case PointerX:
+            if (strRe1 == (char)'\n') {
+                buf[cur]='\0';
+                pc.printf("%s\n",buf);
+                X = atof(buf+1);
+                State = PointerS;
+                pc.printf("%f\n",X);
+            } else {
+                buf[cur++]=strRe1;
+            }
+            break;
+        case PointerY:
+            if (strRe1 == (char)'\n') {
+                buf[cur]='\0';
+                pc.printf("%s\n",buf);
+                Y = atof(buf+1);
+                State = PointerS;
+                pc.printf("%f\n",Y);
+            } else {
+                buf[cur++]=strRe1;
+            }
+            break;
+        case PointerZ:
+            if (strRe1 == (char)'\n') {
+                buf[cur]='\0';
+                pc.printf("%s\n",buf);
+                Z = atof(buf+1);
+                State = PointerS;
+                pc.printf("%f\n",Z);
+            } else {
+                buf[cur++]=strRe1;
+            }
+            break;
+        case PointerA:
+            if (strRe1 == (char)'\n') {
+                buf[cur]='\0';
+                pc.printf("%s\n",buf);
+                A = atof(buf+1);
+                State = PointerS;
+                pc.printf("%f\n",A);
+            } else {
+                buf[cur++]=strRe1;
+            }
+        case PointerL:
+            if (strRe1 == (char)'\n') {
+                buf[cur]='\0';
+                State = PointerS;
+                received = true;
+            } else {
+                buf[cur++]=strRe1;
+            }
+            break;
+        case PointerWW:
+            if (strRe1 == (char)'\n') {
+                State = PointerS;
+                start = true;
+            } else {
+            }
+            break;
+    }
+}
 
 int main()
 {
-    // 读文件例子
-    FILE *fp = fopen("/sd/test.txt", "r"); //打开文件，路径以“/sd/”开头
+
+    // motorX.enable();
+    // motorY.enable();
+    // motorZ.enable();
+    // init();
+    pc.printf("Hello World !\n");
+    bt.attach(btInterrupt);
+//    int i = 1;
+
+
+    while(1) {
+
+
+        if(received) {
+            pc.printf("save %s to file\r\n",buf);
 
-    if (fp == NULL) //打开失败，原因可能是文件不存在，或卡没有连接好
-    {
-        printf("open error!!\r\n");
-        return 1;
-    }
-    printf("file opened for read\r\n");
-    char buf[64];
-    while (fgets(buf, sizeof(buf), fp) != NULL) //读入一行的C函数
-    {    
-        printf("read '%s'\r\n", buf);
-    }
-    fclose(fp);  //关闭文件，释放资源
+            // 写文件例子
+            FILE *fp2 = fopen("/sd/test.txt", "w");
+            if (fp2 == NULL)
+            {
+                printf("open error2!!\r\n");
+                return 1;
+            }
+            fprintf(fp2, "%s", buf);
+            fclose(fp2);  //写完文件要记得关闭，不然可能没保存上
+            pc.printf("saved\r\n");
+            received = false;
+        }
+        if(start){
+         
+         
+            FILE *fp = fopen("/sd/test.txt", "r"); //打开文件，路径以“/sd/”开头
+        
+            if (fp == NULL) //打开失败，原因可能是文件不存在，或卡没有连接好
+            {
+                printf("open error!!\r\n");
+                return 1;
+            }
+            fgets(buf, sizeof(buf), fp); //读入一行的C函数
+            pc.printf("read\r\n");
+            fclose(fp);  //关闭文件，释放资源
     
-    //printf("card type is 0x%x\r\n" , sd.card_type());
-    
-    // 写文件例子
-    FILE *fp2 = fopen("/sd/write.txt", "w");
-    if (fp2 == NULL)
-    {
-        printf("open error2!!\r\n");
-        return 1;
+            pc.printf("%s\r\n",buf);
+            char *p = buf;
+            float a,x,y,z;
+            while(true) {
+                p = strchr(p, '(');
+                if(!p) break;
+                p++;
+                sscanf(p, "%f%f%f%f",&x,&y,&z,&a);
+                pc.printf("%f %f %f %f\r\n",x,y,z,a);
+            }
+            start = false;
+        }
     }
-    printf("file opened for write\r\n");
-    fprintf(fp2, "hello\r\n");
-    fprintf(fp2, "%d", 23333);
-    fclose(fp2);  //写完文件要记得关闭，不然可能没保存上
-
     return 0;
-}
+}
\ No newline at end of file