main.cpp

00001 #include "mbed.h"
00002 #include "stepper.h"
00003 #include "SDFileSystem.h"
00004 
00005 // mosi, miso, sclk, name
00006 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
00007 
00008 
00009 typedef enum {
00010     PointerS,PointerW,PointerX,PointerY,PointerZ,PointerA,PointerL,PointerWW
00011 } STATE;                     //定义结构体枚举类型STATE
00012 
00013 
00014 Serial pc(PA_9, PA_10);    //定义引脚
00015 Serial bt(PB_10, PB_11);
00016 stepperMotor motorX(PC_5, PC_4, PD_2, PC_8, 0.0002);
00017 stepperMotor motorY(PA_5, PA_4, PA_2, PA_6, 0.0002);
00018 stepperMotor motorZ(PC_3, PC_2, PC_13, PC_6, 0.0002);
00019 //DigitalIn swX(PA_6);
00020 //DigitalIn swY(PA_6);
00021 //DigitalIn swZ(PA_6);
00022 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
00023 const char* strX;                 //定义全局变量X,Y,Z,A字符串指针
00024 const char* strY;
00025 const char* strZ;
00026 const char* strA;
00027 //stringstream ss;
00028 char buf[256];
00029 int cur;
00030 bool received,start;
00031 
00032 void init()        //复位函数
00033 {
00034     stepperMotor motorX(PC_5, PC_4, PD_2, PC_8, 0.0005);
00035     stepperMotor motorY(PA_5, PA_4, PA_2, PA_6, 0.0005);
00036     stepperMotor motorZ(PC_3, PC_2, PC_13, PC_6, 0.0005);      //复位速度要变慢
00037     int steps = -12000;
00038     motorX.enable(steps);
00039     while(motorX.remain != 0);
00040     motorY.enable(steps);
00041     while(motorY.remain != 0);
00042     motorZ.enable(steps);
00043     while(motorZ.remain != 0);
00044 }
00045 
00046 
00047 
00048 void btInterrupt()    //中断接收函数
00049 {
00050     if(!bt.readable())
00051         return;
00052     char strRe1;                          //定义字符串
00053     static STATE State = PointerS;        // 初始状态待检查
00054     strRe1 = bt.getc();                   //读取一个byte数据
00055 
00056     switch(State) {
00057         case PointerS:
00058             if (strRe1 == (char)'S') {
00059                 State = PointerW;        //准备跳转至数据选择
00060                 cur = 0;
00061             } else
00062                 State = PointerS;
00063             break;
00064         case PointerW:
00065             switch (strRe1) {
00066                 case (char)'X':
00067                     State = PointerX;
00068                     break;
00069                 case (char)'Y':
00070                     State = PointerY;
00071                     break;
00072                 case (char)'Z':
00073                     State = PointerZ;
00074                     break;
00075                 case (char)'S':
00076                     State = PointerS;
00077                     break;
00078                 case (char)'L':
00079                     State = PointerL;
00080                     break;
00081                 case (char)'W':
00082                     State = PointerWW;
00083                     break;
00084                 case (char)'A':
00085                     State = PointerA;
00086                     break;
00087             }
00088         case PointerX:
00089             if (strRe1 == (char)'\n') {
00090                 buf[cur]='\0';
00091                 pc.printf("%s\n",buf);
00092                 X = atof(buf+1);
00093                 State = PointerS;
00094                 pc.printf("%f\n",X);
00095             } else {
00096                 buf[cur++]=strRe1;
00097             }
00098             break;
00099         case PointerY:
00100             if (strRe1 == (char)'\n') {
00101                 buf[cur]='\0';
00102                 pc.printf("%s\n",buf);
00103                 Y = atof(buf+1);
00104                 State = PointerS;
00105                 pc.printf("%f\n",Y);
00106             } else {
00107                 buf[cur++]=strRe1;
00108             }
00109             break;
00110         case PointerZ:
00111             if (strRe1 == (char)'\n') {
00112                 buf[cur]='\0';
00113                 pc.printf("%s\n",buf);
00114                 Z = atof(buf+1);
00115                 State = PointerS;
00116                 pc.printf("%f\n",Z);
00117             } else {
00118                 buf[cur++]=strRe1;
00119             }
00120             break;
00121         case PointerA:
00122             if (strRe1 == (char)'\n') {
00123                 buf[cur]='\0';
00124                 pc.printf("%s\n",buf);
00125                 A = atof(buf+1);
00126                 State = PointerS;
00127                 pc.printf("%f\n",A);
00128             } else {
00129                 buf[cur++]=strRe1;
00130             }
00131         case PointerL:
00132             if (strRe1 == (char)'\n') {
00133                 buf[cur]='\0';
00134                 State = PointerS;
00135                 received = true;
00136             } else {
00137                 buf[cur++]=strRe1;
00138             }
00139             break;
00140         case PointerWW:
00141             if (strRe1 == (char)'\n') {
00142                 State = PointerS;
00143                 start = true;
00144             } else {
00145             }
00146             break;
00147     }
00148 }
00149 
00150 int main()
00151 {
00152 
00153     // motorX.enable();
00154     // motorY.enable();
00155     // motorZ.enable();
00156     // init();
00157     pc.printf("Hello World !\n");
00158     bt.attach(btInterrupt);
00159 //    int i = 1;
00160 
00161 
00162     while(1) {
00163 
00164 
00165         if(received) {
00166             pc.printf("save %s to file\r\n",buf);
00167 
00168             // 写文件例子
00169             FILE *fp2 = fopen("/sd/test.txt", "w");
00170             if (fp2 == NULL)
00171             {
00172                 printf("open error2!!\r\n");
00173                 return 1;
00174             }
00175             fprintf(fp2, "%s", buf);
00176             fclose(fp2);  //写完文件要记得关闭，不然可能没保存上
00177             pc.printf("saved\r\n");
00178             received = false;
00179         }
00180         if(start){
00181          
00182          
00183             FILE *fp = fopen("/sd/test.txt", "r"); //打开文件，路径以“/sd/”开头
00184         
00185             if (fp == NULL) //打开失败，原因可能是文件不存在，或卡没有连接好
00186             {
00187                 printf("open error!!\r\n");
00188                 return 1;
00189             }
00190             fgets(buf, sizeof(buf), fp); //读入一行的C函数
00191             pc.printf("read\r\n");
00192             fclose(fp);  //关闭文件，释放资源
00193     
00194             pc.printf("%s\r\n",buf);
00195             char *p = buf;
00196             float a,x,y,z;
00197             while(true) {
00198                 p = strchr(p, '(');
00199                 if(!p) break;
00200                 p++;
00201                 sscanf(p, "%f%f%f%f",&x,&y,&z,&a);
00202                 pc.printf("%f %f %f %f\r\n",x,y,z,a);
00203             }
00204             start = false;
00205         }
00206     }
00207     return 0;
00208 }