Remi Beges
A demonstration of the telemetry library (https://github.com/Overdrivr/Telemetry) to transfert to the desktop various data from the FRDM-TFC shield
Dependencies: BufferedSerial FRDM-TFC-HBRIDGE mbed telemetry
Example of the 'Telemetry' library, a portable communication library for embedded devices.
This code fetches all the data from the Freescale Cup RC-car. It relies on a more advanced shield library that is able to read current feedback from HBridges.
The available data is the following :
- Potentiometer 0
- Potentiometer 1
- 4-bit DIP switch
- Battery level
- current inside HBridge A
- current inside HBridge B
You can use the Pytelemetry Command Line Interface to open plots, visualize the received data, and communicate with the car.
See https://github.com/Overdrivr/pytelemetrycli
Diff: main.cpp
- Revision:
- 0:4fbaf36176b6
- Child:
- 1:eeaf7cbb5582
diff -r 000000000000 -r 4fbaf36176b6 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 17 20:43:59 2016 +0000
@@ -0,0 +1,49 @@
+#include "telemetry/driver.hpp"
+#include "FRDM-TFC/TFC.h"
+
+struct TM_state
+{
+ float throttle;
+};
+
+void process(TM_state * state, TM_msg * msg);
+
+int main()
+{
+ TFC_Init();
+ TM_state state;
+
+ Telemetry tm(&state,115200);
+ tm.sub(process);
+
+ Timer refresh_timer;
+ refresh_timer.start();
+ TFC_HBRIDGE_ENABLE;
+ for( ; ; )
+ {
+ if(refresh_timer.read_ms() > 100)
+ {
+ tm.pub_f32("left",TFC_ReadMotorCurrent(0));
+ tm.pub_f32("right",TFC_ReadMotorCurrent(1));
+ tm.pub_f32("pot0",TFC_ReadPot(0));
+ tm.pub_f32("pot1",TFC_ReadPot(1));
+ tm.pub_f32("throttle",state.throttle);
+ tm.pub_f32("bat",TFC_ReadBatteryVoltage());
+
+ TFC_SetMotorPWM(state.throttle ,state.throttle);
+ tm.update();
+ }
+ }
+}
+
+void process(TM_state * state, TM_msg * msg)
+{
+ if(msg->type == TM_float32)
+ {
+ float th = 0;
+ if(emplace_f32(msg,&th))
+ {
+ state->throttle = th;
+ }
+ }
+}
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