Asha Harris / Mbed 2 deprecated RoboNav

Self-navigating IOT robot for ECE 4180. Before navigation code begins, wi-fi http server setup takes time (approx. 2 min, see serial output in terminal window)

Dependencies:   HC_SR04_Ultrasonic_Library Motor mbed-rtos mbed

main.cpp@0:66c1c628e189, 2016-12-09 (annotated)

Committer:
ashatune
Date:
Fri Dec 09 14:32:59 2016 +0000
Revision:
0:66c1c628e189
IOT self navigating robot code for GaTech ECE 4180 final project.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ashatune 0:66c1c628e189 1 #include "mbed.h"
ashatune 0:66c1c628e189 2 #include "Motor.h"
ashatune 0:66c1c628e189 3 #include "rtos.h"
ashatune 0:66c1c628e189 4 #include "ultrasonic.h"
ashatune 0:66c1c628e189 5
ashatune 0:66c1c628e189 6 //Account for time (approx. 2min, see serial output in terminal) for wi-fi server to set up before navigation code begins!!
ashatune 0:66c1c628e189 7
ashatune 0:66c1c628e189 8 Motor ma(p25, p14, p13);
ashatune 0:66c1c628e189 9 Motor mb(p24, p11, p12); // pwm, fwd, rev
ashatune 0:66c1c628e189 10 DigitalOut myled(LED1);
ashatune 0:66c1c628e189 11 DigitalOut led4(LED4);
ashatune 0:66c1c628e189 12 DigitalOut led3(LED3);
ashatune 0:66c1c628e189 13
ashatune 0:66c1c628e189 14 //speaker/sd set up
ashatune 0:66c1c628e189 15 /*AnalogOut DACout(p18); //currently in pwm 26
ashatune 0:66c1c628e189 16 wave_player waver(&DACout);
ashatune 0:66c1c628e189 17 SDFileSystem sd(p5, p6, p7, p8, "sd");*/
ashatune 0:66c1c628e189 18
ashatune 0:66c1c628e189 19 Serial pc(USBTX, USBRX);
ashatune 0:66c1c628e189 20 Serial esp(p28, p27); // tx, rx
ashatune 0:66c1c628e189 21 DigitalOut reset(p26);
ashatune 0:66c1c628e189 22 Timer t;
ashatune 0:66c1c628e189 23
ashatune 0:66c1c628e189 24 int count,ended,timeout;
ashatune 0:66c1c628e189 25 char buf[2024];
ashatune 0:66c1c628e189 26 char snd[1024];
ashatune 0:66c1c628e189 27
ashatune 0:66c1c628e189 28 char ssid[32] = "iPhone"; // enter WiFi router ssid inside the quotes
ashatune 0:66c1c628e189 29 char pwd [32] = "Jordan23#"; // enter WiFi router password inside the quotes
ashatune 0:66c1c628e189 30
ashatune 0:66c1c628e189 31 void SendCMD(),getreply(),ESPconfig(),ESPsetbaudrate();
ashatune 0:66c1c628e189 32 void dev_recv()
ashatune 0:66c1c628e189 33 {
ashatune 0:66c1c628e189 34 myled = myled;
ashatune 0:66c1c628e189 35 while(esp.readable()) {
ashatune 0:66c1c628e189 36 pc.putc(esp.getc());
ashatune 0:66c1c628e189 37 }
ashatune 0:66c1c628e189 38 }
ashatune 0:66c1c628e189 39
ashatune 0:66c1c628e189 40 void pc_recv()
ashatune 0:66c1c628e189 41 {
ashatune 0:66c1c628e189 42 led4 = !led4;
ashatune 0:66c1c628e189 43 while(pc.readable()) {
ashatune 0:66c1c628e189 44 esp.putc(pc.getc());
ashatune 0:66c1c628e189 45 }
ashatune 0:66c1c628e189 46 }
ashatune 0:66c1c628e189 47
ashatune 0:66c1c628e189 48
ashatune 0:66c1c628e189 49 DigitalIn Enc1(p21); //right motor...
ashatune 0:66c1c628e189 50 DigitalIn Enc2(p22); //left motor
ashatune 0:66c1c628e189 51 int oldEnc1 = 0;
ashatune 0:66c1c628e189 52 int oldEnc2 = 0;
ashatune 0:66c1c628e189 53
ashatune 0:66c1c628e189 54 int ticksR = 0; //# times right wheel encoder changed state
ashatune 0:66c1c628e189 55 int ticksL = 0; //" "
ashatune 0:66c1c628e189 56
ashatune 0:66c1c628e189 57 void dist1(int distance)
ashatune 0:66c1c628e189 58 {
ashatune 0:66c1c628e189 59 //put code here to execute when the distance has changed
ashatune 0:66c1c628e189 60 printf("Distance1 %d mm\r\n", distance);
ashatune 0:66c1c628e189 61 }
ashatune 0:66c1c628e189 62 void dist2(int distance2)
ashatune 0:66c1c628e189 63 {
ashatune 0:66c1c628e189 64 //put code here to execute when the distance has changed
ashatune 0:66c1c628e189 65 printf("Distance2 %d mm\r\n", distance2);
ashatune 0:66c1c628e189 66 }
ashatune 0:66c1c628e189 67
ashatune 0:66c1c628e189 68 //Sonar1 variables
ashatune 0:66c1c628e189 69 ultrasonic mu1(p15, p16, .1, 1, &dist1);
ashatune 0:66c1c628e189 70
ashatune 0:66c1c628e189 71 //Sonar2 variables
ashatune 0:66c1c628e189 72 ultrasonic mu2(p22, p21, .1, 1, &dist2);
ashatune 0:66c1c628e189 73
ashatune 0:66c1c628e189 74 void wheelEnc(void const *argument){
ashatune 0:66c1c628e189 75 while(1){
ashatune 0:66c1c628e189 76 if(Enc1 != oldEnc1) { // Increment ticks every time the state has switched.
ashatune 0:66c1c628e189 77 ticksR++;
ashatune 0:66c1c628e189 78 oldEnc1 = Enc1;
ashatune 0:66c1c628e189 79
ashatune 0:66c1c628e189 80 }
ashatune 0:66c1c628e189 81 if(Enc2 != oldEnc2) {
ashatune 0:66c1c628e189 82 ticksL++;
ashatune 0:66c1c628e189 83 oldEnc2 = Enc2;
ashatune 0:66c1c628e189 84 }
ashatune 0:66c1c628e189 85 pc.printf("Left ticks: %d \n", ticksL);
ashatune 0:66c1c628e189 86 pc.printf("Right ticks: %d \n", ticksR);
ashatune 0:66c1c628e189 87 }
ashatune 0:66c1c628e189 88 }
ashatune 0:66c1c628e189 89
ashatune 0:66c1c628e189 90 void sonarThread(void const *argument){
ashatune 0:66c1c628e189 91 while(1){
ashatune 0:66c1c628e189 92 mu1.checkDistance(); //front sonar
ashatune 0:66c1c628e189 93 mu2.checkDistance(); //right side sonar
ashatune 0:66c1c628e189 94 int muDist1 = mu1.getCurrentDistance();
ashatune 0:66c1c628e189 95 int muDist2 = mu2.getCurrentDistance();
ashatune 0:66c1c628e189 96
ashatune 0:66c1c628e189 97 //always move straight forward
ashatune 0:66c1c628e189 98 ma.speed(-.8); //Left motor
ashatune 0:66c1c628e189 99 mb.speed(-.8); //Right motor
ashatune 0:66c1c628e189 100 myled =0;
ashatune 0:66c1c628e189 101
ashatune 0:66c1c628e189 102 //Front sensor is not detecting a wall, but right side is too close
ashatune 0:66c1c628e189 103 if ((muDist1 > 250) && (muDist2 < 170)){
ashatune 0:66c1c628e189 104 ma.speed(-.2);
ashatune 0:66c1c628e189 105 mb.speed(-.9);
ashatune 0:66c1c628e189 106 }
ashatune 0:66c1c628e189 107 //Front sensor is not detecting a wall, but right side is too far
ashatune 0:66c1c628e189 108 else if ((muDist1 > 250) && (muDist2 > 250)){
ashatune 0:66c1c628e189 109 ma.speed(-.6); //turn
ashatune 0:66c1c628e189 110 mb.speed(-0.4);
ashatune 0:66c1c628e189 111 }
ashatune 0:66c1c628e189 112 else if (muDist1 < 280){
ashatune 0:66c1c628e189 113 ma.speed(1); //
ashatune 0:66c1c628e189 114 mb.speed(-1);
ashatune 0:66c1c628e189 115 wait(0.3);
ashatune 0:66c1c628e189 116 }
ashatune 0:66c1c628e189 117 else if ((muDist1 > 250) && (muDist2 > 500)){
ashatune 0:66c1c628e189 118 ma.speed(-.8);
ashatune 0:66c1c628e189 119 mb.speed(-.8);
ashatune 0:66c1c628e189 120 wait(0.1);
ashatune 0:66c1c628e189 121 mb.speed(1);
ashatune 0:66c1c628e189 122 wait(0.1);
ashatune 0:66c1c628e189 123 }
ashatune 0:66c1c628e189 124 else {
ashatune 0:66c1c628e189 125 ma.speed(-.8);
ashatune 0:66c1c628e189 126 mb.speed(-.8);
ashatune 0:66c1c628e189 127 wait(.1);
ashatune 0:66c1c628e189 128 }
ashatune 0:66c1c628e189 129 }
ashatune 0:66c1c628e189 130 }
ashatune 0:66c1c628e189 131 ///////////////////////////
ashatune 0:66c1c628e189 132 /*void audio_thread(void const *argument)
ashatune 0:66c1c628e189 133 {
ashatune 0:66c1c628e189 134 ultra_mutex.lock();
ashatune 0:66c1c628e189 135 FILE *wave_file;
ashatune 0:66c1c628e189 136 wave_file=fopen("/sd/imperial_marchEdit.wav","r");
ashatune 0:66c1c628e189 137 waver.play(wave_file);
ashatune 0:66c1c628e189 138 fclose(wave_file);
ashatune 0:66c1c628e189 139 ultra_mutex.unlock();
ashatune 0:66c1c628e189 140 }*/
ashatune 0:66c1c628e189 141
ashatune 0:66c1c628e189 142
ashatune 0:66c1c628e189 143 int main()
ashatune 0:66c1c628e189 144 {
ashatune 0:66c1c628e189 145 led3 = 1;
ashatune 0:66c1c628e189 146 wait(2);
ashatune 0:66c1c628e189 147 reset=0; //hardware reset for 8266
ashatune 0:66c1c628e189 148 pc.baud(9600); // set what you want here depending on your terminal program speed
ashatune 0:66c1c628e189 149 pc.printf("\f\n\r-------------ESP8266 Hardware Reset-------------\n\r");
ashatune 0:66c1c628e189 150 wait(0.5);
ashatune 0:66c1c628e189 151 reset=1;
ashatune 0:66c1c628e189 152 timeout=2;
ashatune 0:66c1c628e189 153 getreply();
ashatune 0:66c1c628e189 154
ashatune 0:66c1c628e189 155 esp.baud(9600); // change this to the new ESP8266 baudrate if it is changed at any time.
ashatune 0:66c1c628e189 156
ashatune 0:66c1c628e189 157 //ESPsetbaudrate(); //****************** include this routine to set a different ESP8266 baudrate ******************
ashatune 0:66c1c628e189 158
ashatune 0:66c1c628e189 159 ESPconfig(); //****************** include Config to set the ESP8266 configuration ***********************
ashatune 0:66c1c628e189 160
ashatune 0:66c1c628e189 161
ashatune 0:66c1c628e189 162
ashatune 0:66c1c628e189 163 pc.attach(&pc_recv, Serial::RxIrq);
ashatune 0:66c1c628e189 164 esp.attach(&dev_recv, Serial::RxIrq);
ashatune 0:66c1c628e189 165 //start measuring the distance
ashatune 0:66c1c628e189 166 mu1.startUpdates();
ashatune 0:66c1c628e189 167 mu2.startUpdates();
ashatune 0:66c1c628e189 168
ashatune 0:66c1c628e189 169 Enc1.mode(PullUp); // requires a pullup resistor so i just used embed's feature.
ashatune 0:66c1c628e189 170 Enc2.mode(PullUp);
ashatune 0:66c1c628e189 171
ashatune 0:66c1c628e189 172 Thread thread1(wheelEnc);
ashatune 0:66c1c628e189 173 Thread thread2(sonarThread);
ashatune 0:66c1c628e189 174 //Thread thread3(audio_thread);
ashatune 0:66c1c628e189 175 //Thread thread4(wifiThread);
ashatune 0:66c1c628e189 176
ashatune 0:66c1c628e189 177 while(1) {
ashatune 0:66c1c628e189 178
ashatune 0:66c1c628e189 179 Thread::wait(100);
ashatune 0:66c1c628e189 180
ashatune 0:66c1c628e189 181 }
ashatune 0:66c1c628e189 182 }
ashatune 0:66c1c628e189 183
ashatune 0:66c1c628e189 184
ashatune 0:66c1c628e189 185
ashatune 0:66c1c628e189 186 ///WIFI SERVER GUI SETUP
ashatune 0:66c1c628e189 187
ashatune 0:66c1c628e189 188 // Sets new ESP8266 baurate, change the esp.baud(xxxxx) to match your new setting once this has been executed
ashatune 0:66c1c628e189 189 void ESPsetbaudrate()
ashatune 0:66c1c628e189 190 {
ashatune 0:66c1c628e189 191 strcpy(snd, "AT+CIOBAUD=115200\r\n"); // change the numeric value to the required baudrate
ashatune 0:66c1c628e189 192 SendCMD();
ashatune 0:66c1c628e189 193 }
ashatune 0:66c1c628e189 194
ashatune 0:66c1c628e189 195 // +++++++++++++++++++++++++++++++++ This is for ESP8266 config only, run this once to set up the ESP8266 +++++++++++++++
ashatune 0:66c1c628e189 196 void ESPconfig()
ashatune 0:66c1c628e189 197 {
ashatune 0:66c1c628e189 198
ashatune 0:66c1c628e189 199 wait(5);
ashatune 0:66c1c628e189 200 pc.printf("\f---------- Starting ESP Config ----------\r\n\n");
ashatune 0:66c1c628e189 201 strcpy(snd,".\r\n.\r\n");
ashatune 0:66c1c628e189 202 SendCMD();
ashatune 0:66c1c628e189 203 wait(1);
ashatune 0:66c1c628e189 204 pc.printf("---------- Reset & get Firmware ----------\r\n");
ashatune 0:66c1c628e189 205 strcpy(snd,"node.restart()\r\n");
ashatune 0:66c1c628e189 206 SendCMD();
ashatune 0:66c1c628e189 207 timeout=5;
ashatune 0:66c1c628e189 208 getreply();
ashatune 0:66c1c628e189 209 pc.printf(buf);
ashatune 0:66c1c628e189 210
ashatune 0:66c1c628e189 211 wait(2);
ashatune 0:66c1c628e189 212
ashatune 0:66c1c628e189 213 pc.printf("\n---------- Get Version ----------\r\n");
ashatune 0:66c1c628e189 214 strcpy(snd,"print(node.info())\r\n");
ashatune 0:66c1c628e189 215 SendCMD();
ashatune 0:66c1c628e189 216 timeout=4;
ashatune 0:66c1c628e189 217 getreply();
ashatune 0:66c1c628e189 218 pc.printf(buf);
ashatune 0:66c1c628e189 219
ashatune 0:66c1c628e189 220 wait(3);
ashatune 0:66c1c628e189 221
ashatune 0:66c1c628e189 222 // set CWMODE to 1=Station,2=AP,3=BOTH, default mode 1 (Station)
ashatune 0:66c1c628e189 223 pc.printf("\n---------- Setting Mode ----------\r\n");
ashatune 0:66c1c628e189 224 strcpy(snd, "wifi.setmode(wifi.STATION)\r\n");
ashatune 0:66c1c628e189 225 SendCMD();
ashatune 0:66c1c628e189 226 timeout=4;
ashatune 0:66c1c628e189 227 getreply();
ashatune 0:66c1c628e189 228 pc.printf(buf);
ashatune 0:66c1c628e189 229
ashatune 0:66c1c628e189 230 wait(2);
ashatune 0:66c1c628e189 231
ashatune 0:66c1c628e189 232
ashatune 0:66c1c628e189 233
ashatune 0:66c1c628e189 234 pc.printf("\n---------- Listing Access Points ----------\r\n");
ashatune 0:66c1c628e189 235 strcpy(snd, "function listap(t)\r\n");
ashatune 0:66c1c628e189 236 SendCMD();
ashatune 0:66c1c628e189 237 wait(1);
ashatune 0:66c1c628e189 238 strcpy(snd, "for k,v in pairs(t) do\r\n");
ashatune 0:66c1c628e189 239 SendCMD();
ashatune 0:66c1c628e189 240 wait(1);
ashatune 0:66c1c628e189 241 strcpy(snd, "print(k..\" : \"..v)\r\n");
ashatune 0:66c1c628e189 242 SendCMD();
ashatune 0:66c1c628e189 243 wait(1);
ashatune 0:66c1c628e189 244 strcpy(snd, "end\r\n");
ashatune 0:66c1c628e189 245 SendCMD();
ashatune 0:66c1c628e189 246 wait(1);
ashatune 0:66c1c628e189 247 strcpy(snd, "end\r\n");
ashatune 0:66c1c628e189 248 SendCMD();
ashatune 0:66c1c628e189 249 wait(1);
ashatune 0:66c1c628e189 250 strcpy(snd, "wifi.sta.getap(listap)\r\n");
ashatune 0:66c1c628e189 251 SendCMD();
ashatune 0:66c1c628e189 252 wait(1);
ashatune 0:66c1c628e189 253 timeout=15;
ashatune 0:66c1c628e189 254 getreply();
ashatune 0:66c1c628e189 255 pc.printf(buf);
ashatune 0:66c1c628e189 256
ashatune 0:66c1c628e189 257 wait(2);
ashatune 0:66c1c628e189 258
ashatune 0:66c1c628e189 259 pc.printf("\n---------- Connecting to AP ----------\r\n");
ashatune 0:66c1c628e189 260 pc.printf("ssid = %s pwd = %s\r\n",ssid,pwd);
ashatune 0:66c1c628e189 261 strcpy(snd, "wifi.sta.config(\"");
ashatune 0:66c1c628e189 262 strcat(snd, ssid);
ashatune 0:66c1c628e189 263 strcat(snd, "\",\"");
ashatune 0:66c1c628e189 264 strcat(snd, pwd);
ashatune 0:66c1c628e189 265 strcat(snd, "\")\r\n");
ashatune 0:66c1c628e189 266 SendCMD();
ashatune 0:66c1c628e189 267 timeout=10;
ashatune 0:66c1c628e189 268 getreply();
ashatune 0:66c1c628e189 269 pc.printf(buf);
ashatune 0:66c1c628e189 270
ashatune 0:66c1c628e189 271 wait(5);
ashatune 0:66c1c628e189 272
ashatune 0:66c1c628e189 273 pc.printf("\n---------- Get IP's ----------\r\n");
ashatune 0:66c1c628e189 274 strcpy(snd, "print(wifi.sta.getip())\r\n");
ashatune 0:66c1c628e189 275 SendCMD();
ashatune 0:66c1c628e189 276 timeout=3;
ashatune 0:66c1c628e189 277 getreply();
ashatune 0:66c1c628e189 278 pc.printf(buf);
ashatune 0:66c1c628e189 279
ashatune 0:66c1c628e189 280 wait(1);
ashatune 0:66c1c628e189 281
ashatune 0:66c1c628e189 282 pc.printf("\n---------- Get Connection Status ----------\r\n");
ashatune 0:66c1c628e189 283 strcpy(snd, "print(wifi.sta.status())\r\n");
ashatune 0:66c1c628e189 284 SendCMD();
ashatune 0:66c1c628e189 285 timeout=5;
ashatune 0:66c1c628e189 286 getreply();
ashatune 0:66c1c628e189 287 pc.printf(buf);
ashatune 0:66c1c628e189 288
ashatune 0:66c1c628e189 289 pc.printf("\n\n\n If you get a valid (non zero) IP, ESP8266 has been set up.\r\n");
ashatune 0:66c1c628e189 290 pc.printf(" Run this if you want to reconfig the ESP8266 at any time.\r\n");
ashatune 0:66c1c628e189 291 pc.printf(" It saves the SSID and password settings internally\r\n");
ashatune 0:66c1c628e189 292 pc.printf(" Asha Harris and Teferi Lab 2 ");
ashatune 0:66c1c628e189 293 wait(10);
ashatune 0:66c1c628e189 294
ashatune 0:66c1c628e189 295
ashatune 0:66c1c628e189 296 pc.printf("\n---------- Setting up http server ----------\r\n");
ashatune 0:66c1c628e189 297 strcpy(snd, "srv=net.createServer(net.TCP)\r\n");
ashatune 0:66c1c628e189 298 SendCMD();
ashatune 0:66c1c628e189 299 wait(1);
ashatune 0:66c1c628e189 300 strcpy(snd, "srv:listen(80,function(conn)\r\n");
ashatune 0:66c1c628e189 301 SendCMD();
ashatune 0:66c1c628e189 302 wait(1);
ashatune 0:66c1c628e189 303 strcpy(snd, "conn:on(\"receive\",function(conn,payload)\r\n");
ashatune 0:66c1c628e189 304 SendCMD();
ashatune 0:66c1c628e189 305 wait(1);
ashatune 0:66c1c628e189 306 strcpy(snd, "print(payload)\r\n");
ashatune 0:66c1c628e189 307 SendCMD();
ashatune 0:66c1c628e189 308 wait(1);
ashatune 0:66c1c628e189 309
ashatune 0:66c1c628e189 310 strcpy(snd, "conn:send(\"<!DOCTYPE html>\")\r\n");
ashatune 0:66c1c628e189 311 SendCMD();
ashatune 0:66c1c628e189 312 wait(1);
ashatune 0:66c1c628e189 313
ashatune 0:66c1c628e189 314 strcpy(snd, "conn:send(\"<html>\")\r\n");
ashatune 0:66c1c628e189 315 SendCMD();
ashatune 0:66c1c628e189 316 wait(1);
ashatune 0:66c1c628e189 317
ashatune 0:66c1c628e189 318 strcpy(snd, "conn:send(\"<h1> 4180 IOT Self Nav Robot </h1>\")\r\n");
ashatune 0:66c1c628e189 319 SendCMD();
ashatune 0:66c1c628e189 320 wait(1);
ashatune 0:66c1c628e189 321
ashatune 0:66c1c628e189 322 sprintf(snd, "conn:send(\"%s'\")\r\n", ticksR);
ashatune 0:66c1c628e189 323 SendCMD();
ashatune 0:66c1c628e189 324 wait(1);
ashatune 0:66c1c628e189 325
ashatune 0:66c1c628e189 326 strcpy(snd, "conn:send(\"<h2> cm.. </h2>\")\r\n");
ashatune 0:66c1c628e189 327 SendCMD();
ashatune 0:66c1c628e189 328 wait(1);
ashatune 0:66c1c628e189 329
ashatune 0:66c1c628e189 330 strcpy(snd, "conn:send(\"</html>\")\r\n");
ashatune 0:66c1c628e189 331 SendCMD();
ashatune 0:66c1c628e189 332 wait(1);
ashatune 0:66c1c628e189 333
ashatune 0:66c1c628e189 334 strcpy(snd, "end)\r\n");
ashatune 0:66c1c628e189 335 SendCMD();
ashatune 0:66c1c628e189 336 wait(1);
ashatune 0:66c1c628e189 337
ashatune 0:66c1c628e189 338 strcpy(snd, "conn:on(\"sent\",function(conn) conn:close() end)\r\n");
ashatune 0:66c1c628e189 339 SendCMD();
ashatune 0:66c1c628e189 340 wait(1);
ashatune 0:66c1c628e189 341 strcpy(snd, "end)\r\n");
ashatune 0:66c1c628e189 342 SendCMD();
ashatune 0:66c1c628e189 343 wait(1);
ashatune 0:66c1c628e189 344 timeout=17;
ashatune 0:66c1c628e189 345 getreply();
ashatune 0:66c1c628e189 346 pc.printf(buf);
ashatune 0:66c1c628e189 347 pc.printf("\r\nDONE");
ashatune 0:66c1c628e189 348 }
ashatune 0:66c1c628e189 349
ashatune 0:66c1c628e189 350 void SendCMD()
ashatune 0:66c1c628e189 351 {
ashatune 0:66c1c628e189 352 esp.printf("%s", snd);
ashatune 0:66c1c628e189 353 }
ashatune 0:66c1c628e189 354
ashatune 0:66c1c628e189 355 void getreply()
ashatune 0:66c1c628e189 356 {
ashatune 0:66c1c628e189 357 memset(buf, '\0', sizeof(buf));
ashatune 0:66c1c628e189 358 t.start();
ashatune 0:66c1c628e189 359 ended=0;
ashatune 0:66c1c628e189 360 count=0;
ashatune 0:66c1c628e189 361 while(!ended) {
ashatune 0:66c1c628e189 362 if(esp.readable()) {
ashatune 0:66c1c628e189 363 buf[count] = esp.getc();
ashatune 0:66c1c628e189 364 count++;
ashatune 0:66c1c628e189 365 }
ashatune 0:66c1c628e189 366 if(t.read() > timeout) {
ashatune 0:66c1c628e189 367 ended = 1;
ashatune 0:66c1c628e189 368 t.stop();
ashatune 0:66c1c628e189 369 t.reset();
ashatune 0:66c1c628e189 370 }
ashatune 0:66c1c628e189 371 }
ashatune 0:66c1c628e189 372 }
ashatune 0:66c1c628e189 373
ashatune 0:66c1c628e189 374