clement lignie / configure_ax12_test_bras_module

config AX12

Fork of configure_ax12_test_bras_module by CRAC Team

main.cpp@1:fce3323d874f, 2016-11-25 (annotated)

Committer:
slowness
Date:
Fri Nov 25 17:38:14 2016 +0000
Revision:
1:fce3323d874f
Parent:
0:c03cffe402df
Child:
2:91b6646ea994
mouvement du bras

Who changed what in which revision?

UserRevisionLine numberNew contents of line
slowness 0:c03cffe402df 1 #include "mbed.h"
slowness 0:c03cffe402df 2 #include "AX12.h"
slowness 0:c03cffe402df 3
slowness 0:c03cffe402df 4 Timer t;
slowness 0:c03cffe402df 5
slowness 0:c03cffe402df 6 Serial pc(USBTX, USBRX); // tx, rx
slowness 0:c03cffe402df 7 int Key=0,mode=0;
slowness 0:c03cffe402df 8
slowness 0:c03cffe402df 9 // This function is called when a character goes into the RX buffer.
slowness 1:fce3323d874f 10 void rxCallback()
slowness 0:c03cffe402df 11 {
slowness 1:fce3323d874f 12 Key=pc.getc();
slowness 0:c03cffe402df 13 }
slowness 1:fce3323d874f 14
slowness 1:fce3323d874f 15
slowness 0:c03cffe402df 16 void menu()
slowness 0:c03cffe402df 17 {
slowness 0:c03cffe402df 18 pc.printf("------------------------------------------\n\n\r");
slowness 0:c03cffe402df 19 pc.printf("- MENU -\n\n\r");
slowness 0:c03cffe402df 20 pc.printf("------------------------------------------\n\n\r");
slowness 0:c03cffe402df 21 pc.printf("- S pour scanner l'ID AX12 et la vitesse -\n\n\r");
slowness 0:c03cffe402df 22 pc.printf("- V pour changer la vitesse de l'AX12 -\n\n\r");
slowness 0:c03cffe402df 23 pc.printf("- I pour changer l'ID de l'AX12 -\n\n\r");
slowness 0:c03cffe402df 24 pc.printf("- T pour faire un mouvement de test -\n\n\r");
slowness 0:c03cffe402df 25 pc.printf("- R pour revenir au parametre usine -\n\n\r");
slowness 0:c03cffe402df 26 pc.printf("- M pour revenir au menu -\n\n\r");
slowness 0:c03cffe402df 27 pc.printf("- A pour lire info d'un AX12 -\n\n\r");
slowness 0:c03cffe402df 28 pc.printf("------------------------------------------\n\n\r");
slowness 0:c03cffe402df 29 }
slowness 0:c03cffe402df 30
slowness 0:c03cffe402df 31 void ax12read_all_info(unsigned char start,unsigned char longueur)
slowness 0:c03cffe402df 32 {
slowness 0:c03cffe402df 33 AX12 *ptr_myAX12;
slowness 0:c03cffe402df 34 unsigned char numero_ID;
slowness 0:c03cffe402df 35 unsigned int i=0;
slowness 0:c03cffe402df 36 signed char status;
slowness 0:c03cffe402df 37 unsigned long vitesse,vitesseNew;
slowness 0:c03cffe402df 38 pc.printf("\rNumero de l'Id de l'AX12: ");
slowness 0:c03cffe402df 39 pc.scanf("%d",&numero_ID);
slowness 0:c03cffe402df 40 pc.printf("%d \n\n\r",numero_ID);
slowness 0:c03cffe402df 41 pc.printf("\rVitesse actuelle de l'AX12: ");
slowness 0:c03cffe402df 42 pc.scanf("%d",&vitesse);
slowness 0:c03cffe402df 43 pc.printf("%d \n\n\r",vitesse);
slowness 1:fce3323d874f 44 for(i=0; i<=0; i++) {
slowness 0:c03cffe402df 45 //vitesse=2000000/(i+1);
slowness 0:c03cffe402df 46 ptr_myAX12 = new AX12(p9, p10, numero_ID,vitesse); // Create objects
slowness 0:c03cffe402df 47 status = -1; // Reset status variable
slowness 0:c03cffe402df 48 status = ptr_myAX12->Get_ID(); // See if the AX12 exists at this address
slowness 1:fce3323d874f 49 if(1) { //status == numero_ID)
slowness 1:fce3323d874f 50 pc.printf("Servo found at address %d and baudrate %d\n\r",numero_ID,vitesse); // If it does print address and position to the PC
slowness 0:c03cffe402df 51 pc.printf("readinfo \n\n\r");
slowness 0:c03cffe402df 52 ptr_myAX12->read_all_info(start,longueur);
slowness 0:c03cffe402df 53 wait(1.);
slowness 1:fce3323d874f 54 } else
slowness 0:c03cffe402df 55 pc.printf("no AX12 in baudrate: %d and in ID=%d\n\r",vitesse,numero_ID);
slowness 0:c03cffe402df 56 delete ptr_myAX12;
slowness 1:fce3323d874f 57 }
slowness 0:c03cffe402df 58 }
slowness 0:c03cffe402df 59
slowness 0:c03cffe402df 60
slowness 0:c03cffe402df 61 void lecture()
slowness 0:c03cffe402df 62 {
slowness 0:c03cffe402df 63
slowness 0:c03cffe402df 64 }
slowness 0:c03cffe402df 65
slowness 0:c03cffe402df 66 void ax12reset()
slowness 0:c03cffe402df 67 {
slowness 0:c03cffe402df 68 AX12 *ptr_myAX12;
slowness 0:c03cffe402df 69 unsigned char numero_ID;
slowness 0:c03cffe402df 70 unsigned int i=0;
slowness 0:c03cffe402df 71 char status=-1;
slowness 0:c03cffe402df 72 unsigned long vitesse,vitesseNew;
slowness 0:c03cffe402df 73 pc.printf("\rNumero de l'Id de l'AX12: ");
slowness 0:c03cffe402df 74 pc.scanf("%d",&numero_ID);
slowness 0:c03cffe402df 75 pc.printf("%d \n\n\r",numero_ID);
slowness 0:c03cffe402df 76 pc.printf("\rVitesse actuelle de l'AX12: ");
slowness 0:c03cffe402df 77 pc.scanf("%d",&vitesse);
slowness 0:c03cffe402df 78 pc.printf("%d \n\n\r",vitesse);
slowness 1:fce3323d874f 79 for(i=0; i<=0; i++) {
slowness 0:c03cffe402df 80 //vitesse=2000000/(i+1);
slowness 0:c03cffe402df 81 ptr_myAX12 = new AX12(p9, p10, numero_ID,vitesse); // Create objects
slowness 0:c03cffe402df 82 status = -1; // Reset status variable
slowness 0:c03cffe402df 83 status = ptr_myAX12->Get_ID(); // See if the AX12 exists at this address
slowness 1:fce3323d874f 84 if(1) { //status == numero_ID)
slowness 1:fce3323d874f 85 pc.printf("Servo found at address %d and baudrate %d\n\r",numero_ID,vitesse); // If it does print address and position to the PC
slowness 0:c03cffe402df 86 pc.printf("reset \n\n\r");
slowness 0:c03cffe402df 87 ptr_myAX12->reset();
slowness 0:c03cffe402df 88 wait(1.);
slowness 1:fce3323d874f 89 } else
slowness 0:c03cffe402df 90 pc.printf("no AX12 in baudrate: %d and in ID=%d\n\r",vitesse,numero_ID);
slowness 0:c03cffe402df 91 delete ptr_myAX12;
slowness 1:fce3323d874f 92 }
slowness 0:c03cffe402df 93 }
slowness 1:fce3323d874f 94
slowness 0:c03cffe402df 95 void change_ident()
slowness 0:c03cffe402df 96 {
slowness 0:c03cffe402df 97 AX12 *ptr_myAX12;
slowness 0:c03cffe402df 98 unsigned int numero_ID,ID_new;
slowness 0:c03cffe402df 99 char status=-1;
slowness 0:c03cffe402df 100 unsigned long vitesse;
slowness 0:c03cffe402df 101 pc.printf("\rNumero de l'Id de l'AX12: ");
slowness 0:c03cffe402df 102 pc.scanf("%d",&numero_ID);
slowness 0:c03cffe402df 103 pc.printf("%d \n\n\r",numero_ID);
slowness 0:c03cffe402df 104 pc.printf("\rVitesse actuelle de l'AX12: ");
slowness 0:c03cffe402df 105 pc.scanf("%d",&vitesse);
slowness 0:c03cffe402df 106 pc.printf("%d \n\n\r",vitesse);
slowness 0:c03cffe402df 107 ptr_myAX12 = new AX12(p9, p10, numero_ID,vitesse); // Create objects
slowness 0:c03cffe402df 108 status = -1; // Reset status variable
slowness 0:c03cffe402df 109 status = ptr_myAX12->Get_ID(); // See if the AX12 exists at this address
slowness 1:fce3323d874f 110 if(1) { //status == numero_ID)
slowness 1:fce3323d874f 111 pc.printf("Servo found at address %d and baudrate %d\n\r",numero_ID,vitesse); // If it does print address and position to the PC
slowness 0:c03cffe402df 112 pc.printf("\rNouvelle ID de l'AX12: ");
slowness 0:c03cffe402df 113 pc.scanf("%d",&ID_new);
slowness 0:c03cffe402df 114 status = -1; // Reset status variable
slowness 0:c03cffe402df 115 status = ptr_myAX12->Set_ID(numero_ID,ID_new); // See if the AX12 exists at this address
slowness 0:c03cffe402df 116 delete ptr_myAX12;
slowness 0:c03cffe402df 117 ptr_myAX12 = new AX12(p9, p10, ID_new,vitesse); // Create objects
slowness 0:c03cffe402df 118 status = -1; // Reset status variable
slowness 0:c03cffe402df 119 status = ptr_myAX12->Get_ID(); // See if the AX12 exists at this address
slowness 0:c03cffe402df 120 pc.printf("Changement de ID");
slowness 1:fce3323d874f 121 if(status == ID_new) {
slowness 1:fce3323d874f 122 pc.printf(" reussi \n\r"); // If it does print address and position to the PC
slowness 1:fce3323d874f 123 } else
slowness 1:fce3323d874f 124 pc.printf(" rate \n\r"); // If it does print address and position to the PC
slowness 1:fce3323d874f 125 delete ptr_myAX12;
slowness 1:fce3323d874f 126 } else {
slowness 1:fce3323d874f 127 pc.printf("no AX12 in baudrate: %d and in ID=%d\n\r",vitesse,numero_ID);
slowness 1:fce3323d874f 128
slowness 1:fce3323d874f 129
slowness 0:c03cffe402df 130 }
slowness 1:fce3323d874f 131
slowness 1:fce3323d874f 132
slowness 0:c03cffe402df 133 }
slowness 0:c03cffe402df 134
slowness 0:c03cffe402df 135 void vitesse()
slowness 0:c03cffe402df 136 {
slowness 0:c03cffe402df 137 AX12 *ptr_myAX12;
slowness 0:c03cffe402df 138 unsigned int numero_ID,baud;
slowness 0:c03cffe402df 139 char status=-1;
slowness 0:c03cffe402df 140 unsigned int vitesse,vitesseNew;
slowness 0:c03cffe402df 141 pc.printf("\rNumero de l'Id de l'AX12: ");
slowness 0:c03cffe402df 142 pc.scanf("%d",&numero_ID);
slowness 0:c03cffe402df 143 pc.printf("%d \n\n\r",numero_ID);
slowness 0:c03cffe402df 144 pc.printf("\rVitesse actuelle de l'AX12: ");
slowness 0:c03cffe402df 145 pc.scanf("%d",&vitesse);
slowness 0:c03cffe402df 146 pc.printf("%d \n\n\r",vitesse);
slowness 0:c03cffe402df 147 ptr_myAX12 = new AX12(p9, p10, numero_ID,vitesse); // Create objects
slowness 0:c03cffe402df 148 status = -1; // Reset status variable
slowness 0:c03cffe402df 149 status = ptr_myAX12->Get_ID(); // See if the AX12 exists at this address
slowness 1:fce3323d874f 150 if(status == numero_ID) {
slowness 1:fce3323d874f 151 pc.printf("Servo found at address %d and baudrate %d\n\r",numero_ID,vitesse); // If it does print address and position to the PC
slowness 0:c03cffe402df 152 pc.printf("Nouvelle Vitesse de l'AX12: ");
slowness 0:c03cffe402df 153 pc.scanf("%d",&vitesseNew);
slowness 0:c03cffe402df 154 baud=(2000000/vitesseNew)-1;
slowness 0:c03cffe402df 155 pc.printf("\n\r %d \n\r",baud);
slowness 0:c03cffe402df 156 status = -1; // Reset status variable
slowness 1:fce3323d874f 157 status = ptr_myAX12->Set_Baud(baud);
slowness 1:fce3323d874f 158
slowness 1:fce3323d874f 159 // See if the AX12 exists at this address
slowness 0:c03cffe402df 160 delete ptr_myAX12;
slowness 0:c03cffe402df 161 ptr_myAX12 = new AX12(p9, p10, numero_ID,vitesseNew); // Create objects
slowness 0:c03cffe402df 162 status = -1; // Reset status variable
slowness 0:c03cffe402df 163 status = ptr_myAX12->Get_ID(); // See if the AX12 exists at this address
slowness 0:c03cffe402df 164 pc.printf("Changement de vitesse");
slowness 1:fce3323d874f 165 if(status == numero_ID) {
slowness 1:fce3323d874f 166 pc.printf(" reussi \n\r"); // If it does print address and position to the PC
slowness 1:fce3323d874f 167 } else
slowness 1:fce3323d874f 168 pc.printf(" rate \n\r"); // If it does print address and position to the PC
slowness 1:fce3323d874f 169 delete ptr_myAX12;
slowness 1:fce3323d874f 170 } else {
slowness 1:fce3323d874f 171 pc.printf("no AX12 in baudrate: %d and in ID=%d\n\r",vitesse,numero_ID);
slowness 1:fce3323d874f 172
slowness 1:fce3323d874f 173
slowness 0:c03cffe402df 174 }
slowness 1:fce3323d874f 175
slowness 1:fce3323d874f 176
slowness 0:c03cffe402df 177 }
slowness 0:c03cffe402df 178
slowness 0:c03cffe402df 179 void test()
slowness 0:c03cffe402df 180 {
slowness 1:fce3323d874f 181 AX12 *bas_myAX12,*milieu_myAX12, *haut_myAX12;
slowness 0:c03cffe402df 182 unsigned char numero_ID;
slowness 0:c03cffe402df 183 char status=-1;
slowness 1:fce3323d874f 184 unsigned long vitesse=1023,vitesseNew,position;
slowness 1:fce3323d874f 185 bas_myAX12 = new AX12(p9, p10, 2,1000000); // Create objects
slowness 1:fce3323d874f 186 milieu_myAX12 = new AX12(p9, p10, 1,1000000); // Create objects
slowness 1:fce3323d874f 187 haut_myAX12 = new AX12(p9, p10, 3,1000000); // Create objects
slowness 1:fce3323d874f 188 bas_myAX12->Set_Goal_speed(1023);//wait(0.2);
slowness 1:fce3323d874f 189 milieu_myAX12->Set_Goal_speed(1023);//wait(0.2);
slowness 1:fce3323d874f 190 haut_myAX12->Set_Goal_speed(1023);//wait(0.2);
slowness 1:fce3323d874f 191
slowness 1:fce3323d874f 192 do
slowness 0:c03cffe402df 193 {
slowness 1:fce3323d874f 194 pc.printf("numero de mouvement");
slowness 1:fce3323d874f 195 pc.scanf("%d",&position);
slowness 1:fce3323d874f 196
slowness 1:fce3323d874f 197
slowness 1:fce3323d874f 198 switch(position)
slowness 0:c03cffe402df 199 {
slowness 1:fce3323d874f 200 case 1:
slowness 1:fce3323d874f 201 bas_myAX12->Set_Secure_Goal(150);
slowness 1:fce3323d874f 202 milieu_myAX12->Set_Secure_Goal(150-60);
slowness 1:fce3323d874f 203 haut_myAX12->Set_Secure_Goal(150+60);
slowness 1:fce3323d874f 204 break;
slowness 1:fce3323d874f 205
slowness 1:fce3323d874f 206 case 2:
slowness 1:fce3323d874f 207 bas_myAX12->Set_Secure_Goal(60);
slowness 1:fce3323d874f 208 break;
slowness 1:fce3323d874f 209
slowness 1:fce3323d874f 210 case 3:
slowness 1:fce3323d874f 211 milieu_myAX12->Set_Secure_Goal(150-90);
slowness 1:fce3323d874f 212 bas_myAX12->Set_Secure_Goal(60+45);
slowness 1:fce3323d874f 213 haut_myAX12->Set_Secure_Goal(150+45);
slowness 1:fce3323d874f 214 break;
slowness 1:fce3323d874f 215
slowness 1:fce3323d874f 216 case 4:
slowness 1:fce3323d874f 217 haut_myAX12->Set_Secure_Goal(150);
slowness 1:fce3323d874f 218 milieu_myAX12->Set_Secure_Goal(105);
slowness 1:fce3323d874f 219 bas_myAX12->Set_Secure_Goal(110);
slowness 1:fce3323d874f 220 break;
slowness 1:fce3323d874f 221
slowness 1:fce3323d874f 222 case 5:
slowness 1:fce3323d874f 223 bas_myAX12->Set_Secure_Goal(105);
slowness 1:fce3323d874f 224 haut_myAX12->Set_Secure_Goal(105);
slowness 1:fce3323d874f 225 milieu_myAX12->Set_Secure_Goal(150);
slowness 1:fce3323d874f 226 break;
slowness 1:fce3323d874f 227
slowness 0:c03cffe402df 228 }
slowness 1:fce3323d874f 229 //wait(0.2);
slowness 1:fce3323d874f 230 }while(pc.readable()==0);
slowness 1:fce3323d874f 231
slowness 1:fce3323d874f 232 }
slowness 0:c03cffe402df 233
slowness 0:c03cffe402df 234 void scan()
slowness 0:c03cffe402df 235 {
slowness 0:c03cffe402df 236 AX12 *myAX12[100];
slowness 0:c03cffe402df 237 int status=0,cpt=0;
slowness 1:fce3323d874f 238 long baud=0,baudrate=0,find_servo=0,tabbaud[11]= {1,2,3,4,7,9,16,34,64,103,208}; //{207,103,34,16,9,7,4,3,2,1,0};//
slowness 0:c03cffe402df 239 // Print msg to PC
slowness 1:fce3323d874f 240 pc.printf("Scanning chain for AX12+ Servos...\n\n\r");
slowness 1:fce3323d874f 241 // See which addresses contain AX12+ servos
slowness 1:fce3323d874f 242 for(baud=7; baud<11; baud++) {
slowness 1:fce3323d874f 243 baudrate=2000000/(tabbaud[baud]+1);
slowness 1:fce3323d874f 244 find_servo=0;
slowness 1:fce3323d874f 245 pc.printf("\r\n");
slowness 1:fce3323d874f 246 pc.printf("\rcheck servo in %d baudrate\r\n",baudrate);
slowness 1:fce3323d874f 247 for (int i = 0; i < 254; i++) {
slowness 1:fce3323d874f 248 myAX12[cpt] = new AX12(p9, p10, i,baudrate); // Create objects
slowness 1:fce3323d874f 249 pc.printf("\r%03d",i);
slowness 1:fce3323d874f 250 status = -1; // Reset status variable
slowness 1:fce3323d874f 251 status = myAX12[cpt]->Get_ID(); // See if the AX12 exists at this address
slowness 1:fce3323d874f 252 if(status == i) {
slowness 1:fce3323d874f 253 pc.printf("\rServo found at address %d and baudrate %d\r\n",i,baudrate); // If it does print address and position to the PC
slowness 1:fce3323d874f 254 find_servo=find_servo++;
slowness 1:fce3323d874f 255 cpt++;
slowness 1:fce3323d874f 256 } else {
slowness 1:fce3323d874f 257 delete myAX12[cpt];
slowness 1:fce3323d874f 258 /*if(i%16==0)
slowness 1:fce3323d874f 259 pc.printf("\r");
slowness 1:fce3323d874f 260 */
slowness 0:c03cffe402df 261 }
slowness 0:c03cffe402df 262 }
slowness 1:fce3323d874f 263 if(find_servo==0)
slowness 1:fce3323d874f 264 pc.printf("\rno AX12 in this baudrate=%d\n\r",baudrate);
slowness 1:fce3323d874f 265 //wait(2.);
slowness 1:fce3323d874f 266 }
slowness 1:fce3323d874f 267
slowness 0:c03cffe402df 268 }
slowness 0:c03cffe402df 269
slowness 0:c03cffe402df 270 void scan_all()
slowness 0:c03cffe402df 271 {
slowness 0:c03cffe402df 272 AX12 *myAX12[15];
slowness 0:c03cffe402df 273 int status=0,cpt=0,nombre_servo;
slowness 1:fce3323d874f 274 long baud=0,baudrate=0,find_servo=0,tabbaud[11]= {64,1,2,3,4,7,9,16,34,103,208}; //{207,103,34,16,9,7,4,3,2,1,0};//
slowness 0:c03cffe402df 275 // Print msg to PC
slowness 1:fce3323d874f 276 pc.printf("Scanning chain for AX12+ Servos not more than 15 servos ...\n\n\r");
slowness 1:fce3323d874f 277 pc.printf("combien de servo à chercher? ");
slowness 1:fce3323d874f 278 pc.attach(NULL, Serial::RxIrq);
slowness 1:fce3323d874f 279 pc.scanf("%d",&nombre_servo);
slowness 1:fce3323d874f 280 pc.attach(&rxCallback, Serial::RxIrq);// See which addresses contain AX12+ servos
slowness 1:fce3323d874f 281 for(baud=0; baud<=255; baud++) {
slowness 1:fce3323d874f 282 if((Key=='q')||(Key=='Q')) {
slowness 1:fce3323d874f 283 Key=0;
slowness 1:fce3323d874f 284 break;
slowness 1:fce3323d874f 285 }
slowness 1:fce3323d874f 286 baudrate=2000000/(baud+1);
slowness 1:fce3323d874f 287 find_servo=0;
slowness 1:fce3323d874f 288 pc.printf("\r\n");
slowness 1:fce3323d874f 289 for (int i = 0; i < 253; i++) {
slowness 1:fce3323d874f 290 myAX12[cpt] = new AX12(p9, p10, i,baudrate); // Create objects
slowness 1:fce3323d874f 291 pc.printf("\r%03d",i);
slowness 1:fce3323d874f 292 status = -1; // Reset status variable
slowness 1:fce3323d874f 293 status = myAX12[cpt]->Get_ID(); // See if the AX12 exists at this address
slowness 1:fce3323d874f 294 if(status == i) {
slowness 1:fce3323d874f 295 pc.printf("\r Servo found at address %d and baudrate %d\n\r",i,baudrate); // If it does print address and position to the PC
slowness 1:fce3323d874f 296 find_servo=find_servo++;
slowness 1:fce3323d874f 297 cpt++;
slowness 1:fce3323d874f 298
slowness 1:fce3323d874f 299 } else {
slowness 1:fce3323d874f 300 delete myAX12[cpt];
slowness 1:fce3323d874f 301 /*if(i%16==0)
slowness 1:fce3323d874f 302 pc.printf("\r");
slowness 1:fce3323d874f 303 */
slowness 0:c03cffe402df 304 }
slowness 1:fce3323d874f 305 wait(0.001);
slowness 0:c03cffe402df 306 }
slowness 1:fce3323d874f 307 if(cpt>=nombre_servo)
slowness 1:fce3323d874f 308 break;
slowness 1:fce3323d874f 309 if(find_servo==0)
slowness 1:fce3323d874f 310 pc.printf("\r %03d no AX12 in this baudrate=%d\n\r",baud,baudrate);
slowness 1:fce3323d874f 311
slowness 1:fce3323d874f 312 }
slowness 1:fce3323d874f 313
slowness 0:c03cffe402df 314 }
slowness 0:c03cffe402df 315
slowness 1:fce3323d874f 316
slowness 1:fce3323d874f 317
slowness 1:fce3323d874f 318 int main()
slowness 1:fce3323d874f 319 {
slowness 0:c03cffe402df 320 int NewID=0, OldID=0;
slowness 0:c03cffe402df 321 t.start();
slowness 0:c03cffe402df 322 menu();
slowness 0:c03cffe402df 323 pc.attach(&rxCallback, Serial::RxIrq);
slowness 1:fce3323d874f 324 while(1) {
slowness 1:fce3323d874f 325 switch(Key) {
slowness 0:c03cffe402df 326 case 's':
slowness 1:fce3323d874f 327 case 'S':
slowness 1:fce3323d874f 328 Key=0;
slowness 1:fce3323d874f 329 scan_all();
slowness 1:fce3323d874f 330 menu();
slowness 1:fce3323d874f 331 break;
slowness 1:fce3323d874f 332
slowness 0:c03cffe402df 333 case 'l':
slowness 1:fce3323d874f 334 case 'L':
slowness 1:fce3323d874f 335 Key=0;
slowness 1:fce3323d874f 336 lecture();
slowness 1:fce3323d874f 337 menu();
slowness 1:fce3323d874f 338 break;
slowness 1:fce3323d874f 339 case 'm':
slowness 1:fce3323d874f 340 case 'M':
slowness 1:fce3323d874f 341 Key=0;
slowness 1:fce3323d874f 342 menu();
slowness 1:fce3323d874f 343 break;
slowness 1:fce3323d874f 344
slowness 1:fce3323d874f 345 case 'v':
slowness 1:fce3323d874f 346 case 'V':
slowness 1:fce3323d874f 347 Key=0;
slowness 1:fce3323d874f 348 pc.attach(NULL, Serial::RxIrq);
slowness 1:fce3323d874f 349 vitesse();
slowness 1:fce3323d874f 350 pc.attach(&rxCallback, Serial::RxIrq);
slowness 1:fce3323d874f 351 menu();
slowness 1:fce3323d874f 352 break;
slowness 1:fce3323d874f 353
slowness 1:fce3323d874f 354 case 'i':
slowness 1:fce3323d874f 355 case 'I':
slowness 1:fce3323d874f 356 Key=0;
slowness 1:fce3323d874f 357 pc.attach(NULL, Serial::RxIrq);
slowness 1:fce3323d874f 358 change_ident();
slowness 1:fce3323d874f 359 pc.attach(&rxCallback, Serial::RxIrq);
slowness 1:fce3323d874f 360 menu();
slowness 1:fce3323d874f 361 break;
slowness 1:fce3323d874f 362 case 't':
slowness 1:fce3323d874f 363 case 'T':
slowness 1:fce3323d874f 364 Key=0;
slowness 1:fce3323d874f 365 pc.attach(NULL, Serial::RxIrq);
slowness 1:fce3323d874f 366 test();
slowness 1:fce3323d874f 367 pc.attach(&rxCallback, Serial::RxIrq);
slowness 1:fce3323d874f 368 break;
slowness 1:fce3323d874f 369
slowness 1:fce3323d874f 370 case 'r':
slowness 1:fce3323d874f 371 case 'R':
slowness 1:fce3323d874f 372 Key=0;
slowness 1:fce3323d874f 373 pc.attach(NULL, Serial::RxIrq);
slowness 1:fce3323d874f 374 ax12reset();
slowness 1:fce3323d874f 375 pc.attach(&rxCallback, Serial::RxIrq);
slowness 1:fce3323d874f 376 break;
slowness 1:fce3323d874f 377
slowness 1:fce3323d874f 378 case 'a':
slowness 1:fce3323d874f 379 case 'A':
slowness 1:fce3323d874f 380 Key=0;
slowness 1:fce3323d874f 381 pc.attach(NULL, Serial::RxIrq);
slowness 1:fce3323d874f 382 ax12read_all_info(0,8);
slowness 1:fce3323d874f 383 ax12read_all_info(10,10);
slowness 1:fce3323d874f 384 ax12read_all_info(20,10);
slowness 1:fce3323d874f 385 ax12read_all_info(30,10);
slowness 1:fce3323d874f 386 ax12read_all_info(40,10);
slowness 1:fce3323d874f 387
slowness 1:fce3323d874f 388 pc.attach(&rxCallback, Serial::RxIrq);
slowness 1:fce3323d874f 389 break;
slowness 1:fce3323d874f 390
slowness 1:fce3323d874f 391 default:
slowness 1:fce3323d874f 392 break;
slowness 1:fce3323d874f 393
slowness 0:c03cffe402df 394 }
slowness 0:c03cffe402df 395 }
slowness 0:c03cffe402df 396 }
slowness 1:fce3323d874f 397
slowness 1:fce3323d874f 398 // Print msg to PC
slowness 0:c03cffe402df 399 /* pc.printf("\nEnter AX12+ ID to Alter... ");
slowness 0:c03cffe402df 400 while (Key != 0x0D){
slowness 0:c03cffe402df 401 Key=pc.getc(); //Get the keypad pressed
slowness 0:c03cffe402df 402 if((Key>=0x30)&&(Key<=0x39)){ //See if it's a number (0-9)
slowness 0:c03cffe402df 403 OldID=OldID*10+(Key-48); //Strip off ASCII code, convert to int & index
slowness 0:c03cffe402df 404 pc.putc(Key);
slowness 0:c03cffe402df 405 }
slowness 0:c03cffe402df 406 else if (Key == 0x20){ // Space was pressed
slowness 0:c03cffe402df 407 pc.printf("\n\rMoving sevros...");
slowness 0:c03cffe402df 408 while(1){
slowness 0:c03cffe402df 409 Key=pc.getc(); //Get the keypad pressed
slowness 0:c03cffe402df 410 if((Key>=0x30)&&(Key<=0x39)){ //See if it's a number (0-9)
slowness 0:c03cffe402df 411 pc.putc(Key);
slowness 0:c03cffe402df 412 myAX12[(Key-48)]->Set_Goal(60);
slowness 0:c03cffe402df 413 wait(0.5);
slowness 0:c03cffe402df 414 myAX12[(Key-48)]->Set_Goal(240);
slowness 0:c03cffe402df 415 wait(0.5);
slowness 0:c03cffe402df 416 }
slowness 0:c03cffe402df 417 }
slowness 0:c03cffe402df 418 }
slowness 0:c03cffe402df 419 }
slowness 0:c03cffe402df 420 Key = 0; // Reset Key
slowness 0:c03cffe402df 421 pc.printf("\n\rEnter new AX12+ ID... ");
slowness 0:c03cffe402df 422 while (Key != 0x0D){
slowness 0:c03cffe402df 423 Key=pc.getc(); //Get the keypad pressed
slowness 0:c03cffe402df 424 if((Key>=0x30)&&(Key<=0x39)){ //See if it's a number (0-9)
slowness 0:c03cffe402df 425 NewID=NewID*10+(Key-48); //Strip off ASCII code, convert to int & index
slowness 0:c03cffe402df 426 pc.putc(Key);
slowness 0:c03cffe402df 427 }
slowness 0:c03cffe402df 428 }
slowness 0:c03cffe402df 429 pc.printf("\n\rChanging AX12+ No. %d ID from %d to %d...\n\r",OldID,OldID,NewID);
slowness 0:c03cffe402df 430 myAX12[OldID]->Set_ID(OldID,NewID);
slowness 0:c03cffe402df 431 }
slowness 0:c03cffe402df 432 }
slowness 0:c03cffe402df 433 */