Yaroslav Barabanov
/
turret_2017
для управления турелью
uart.cpp@0:690effcc5be0, 2017-01-15 (annotated)
- Committer:
- Yar
- Date:
- Sun Jan 15 22:16:03 2017 +0000
- Revision:
- 0:690effcc5be0
- Child:
- 2:a9d63ae515ad
new program for turret
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Yar | 0:690effcc5be0 | 1 | #include "uart.hpp" |
Yar | 0:690effcc5be0 | 2 | #include "mbed.h" |
Yar | 0:690effcc5be0 | 3 | #include "rtos.h" |
Yar | 0:690effcc5be0 | 4 | #include <string> |
Yar | 0:690effcc5be0 | 5 | #include <stdlib.h> |
Yar | 0:690effcc5be0 | 6 | #include "servo.hpp" |
Yar | 0:690effcc5be0 | 7 | #include "gun.hpp" |
Yar | 0:690effcc5be0 | 8 | |
Yar | 0:690effcc5be0 | 9 | using namespace std; |
Yar | 0:690effcc5be0 | 10 | // скорость UART |
Yar | 0:690effcc5be0 | 11 | const int baudRate = 115200; |
Yar | 0:690effcc5be0 | 12 | // время обновления UART |
Yar | 0:690effcc5be0 | 13 | const int uartDelay = 10; |
Yar | 0:690effcc5be0 | 14 | const int servoDigit = 10; |
Yar | 0:690effcc5be0 | 15 | |
Yar | 0:690effcc5be0 | 16 | Serial pc(SERIAL_TX, SERIAL_RX, baudRate); |
Yar | 0:690effcc5be0 | 17 | |
Yar | 0:690effcc5be0 | 18 | void uartThread(void const *argument) { |
Yar | 0:690effcc5be0 | 19 | while (true) { |
Yar | 0:690effcc5be0 | 20 | Thread::wait(uartDelay); |
Yar | 0:690effcc5be0 | 21 | string inputData = ""; |
Yar | 0:690effcc5be0 | 22 | if (pc.readable() > 0) { |
Yar | 0:690effcc5be0 | 23 | while(true) { |
Yar | 0:690effcc5be0 | 24 | char p = pc.getc(); |
Yar | 0:690effcc5be0 | 25 | inputData = inputData + p; |
Yar | 0:690effcc5be0 | 26 | if(p == '\n' || p == '\r') { |
Yar | 0:690effcc5be0 | 27 | pc.printf("\n"); |
Yar | 0:690effcc5be0 | 28 | pc.printf(inputData.c_str()); |
Yar | 0:690effcc5be0 | 29 | pc.printf("\n"); |
Yar | 0:690effcc5be0 | 30 | break; |
Yar | 0:690effcc5be0 | 31 | } // if |
Yar | 0:690effcc5be0 | 32 | } // while |
Yar | 0:690effcc5be0 | 33 | if (inputData.substr(0, 3) == "get") { |
Yar | 0:690effcc5be0 | 34 | pc.printf("servo 0 %f\n", getServoAngle(0)); |
Yar | 0:690effcc5be0 | 35 | pc.printf("servo 1 %d\n", getServoAngle(1)); |
Yar | 0:690effcc5be0 | 36 | } else |
Yar | 0:690effcc5be0 | 37 | if (inputData.substr(0, 3) == "set") { |
Yar | 0:690effcc5be0 | 38 | char* pEnd; |
Yar | 0:690effcc5be0 | 39 | double servoOne, servoTwo; |
Yar | 0:690effcc5be0 | 40 | // строка с командой |
Yar | 0:690effcc5be0 | 41 | string setdata = inputData.substr(0, 13); |
Yar | 0:690effcc5be0 | 42 | // строка с числом |
Yar | 0:690effcc5be0 | 43 | string numer = inputData.substr(14, inputData.length()); |
Yar | 0:690effcc5be0 | 44 | if (setdata == "set all angle") { |
Yar | 0:690effcc5be0 | 45 | servoOne = strtod(numer.c_str(), &pEnd); |
Yar | 0:690effcc5be0 | 46 | servoTwo = strtod(pEnd, NULL); |
Yar | 0:690effcc5be0 | 47 | setServoAngle(servoOne, 0); |
Yar | 0:690effcc5be0 | 48 | setServoAngle(servoTwo, 1); |
Yar | 0:690effcc5be0 | 49 | } else |
Yar | 0:690effcc5be0 | 50 | if (setdata == "set all speed") { |
Yar | 0:690effcc5be0 | 51 | servoOne = strtod(numer.c_str(), &pEnd); |
Yar | 0:690effcc5be0 | 52 | servoTwo = strtod(pEnd, NULL); |
Yar | 0:690effcc5be0 | 53 | setServoSpeed(servoOne, 0); |
Yar | 0:690effcc5be0 | 54 | setServoSpeed(servoTwo, 1); |
Yar | 0:690effcc5be0 | 55 | } else |
Yar | 0:690effcc5be0 | 56 | if (setdata == "set one speed") { |
Yar | 0:690effcc5be0 | 57 | servoOne = strtod(numer.c_str(), NULL); |
Yar | 0:690effcc5be0 | 58 | setServoSpeed(servoOne, 0); |
Yar | 0:690effcc5be0 | 59 | } else |
Yar | 0:690effcc5be0 | 60 | if (setdata == "set two speed") { |
Yar | 0:690effcc5be0 | 61 | servoTwo = strtod(numer.c_str(), NULL); |
Yar | 0:690effcc5be0 | 62 | setServoSpeed(servoTwo, 1); |
Yar | 0:690effcc5be0 | 63 | } else |
Yar | 0:690effcc5be0 | 64 | if (setdata == "set one angle") { |
Yar | 0:690effcc5be0 | 65 | servoOne = strtod(numer.c_str(), NULL); |
Yar | 0:690effcc5be0 | 66 | setServoAngle(servoOne, 0); |
Yar | 0:690effcc5be0 | 67 | } else |
Yar | 0:690effcc5be0 | 68 | if (setdata == "set two angle") { |
Yar | 0:690effcc5be0 | 69 | servoTwo = strtod(numer.c_str(), NULL); |
Yar | 0:690effcc5be0 | 70 | setServoAngle(servoTwo, 1); |
Yar | 0:690effcc5be0 | 71 | } |
Yar | 0:690effcc5be0 | 72 | } else |
Yar | 0:690effcc5be0 | 73 | if (inputData.substr(0, 4) == "shot") { |
Yar | 0:690effcc5be0 | 74 | shotGun(); |
Yar | 0:690effcc5be0 | 75 | } else |
Yar | 0:690effcc5be0 | 76 | if (inputData.substr(0, 6) == "gun on") { |
Yar | 0:690effcc5be0 | 77 | enabledGun(); |
Yar | 0:690effcc5be0 | 78 | } else |
Yar | 0:690effcc5be0 | 79 | if (inputData.substr(0, 7) == "gun off") { |
Yar | 0:690effcc5be0 | 80 | disabledGun(); |
Yar | 0:690effcc5be0 | 81 | } |
Yar | 0:690effcc5be0 | 82 | } // if |
Yar | 0:690effcc5be0 | 83 | while(pc.readable() > 0) { |
Yar | 0:690effcc5be0 | 84 | char p = pc.getc(); |
Yar | 0:690effcc5be0 | 85 | } |
Yar | 0:690effcc5be0 | 86 | } |
Yar | 0:690effcc5be0 | 87 | } |