Diff: main.cpp

Revision:

0:a0bf1c99732b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jun 12 14:58:34 2015 +0000
@@ -0,0 +1,95 @@
+// Example of parsing the serial string from the fullAppBaordSend
+/* Code derived from the work of Joe Bradshaw:
+                                            http://developer.mbed.org/users/jebradshaw/ */
+/******************Declaration of necessary libraries and objects************************/
+#include "mbed.h"
+#include "C12832_lcd.h"     // Include for LCD code
+/******************Declaration of necessary variables***********************************/
+DigitalOut myled(LED1);     //For LED
+Serial pc(USBTX, USBRX);    //tx, rx via USB connection
+Serial xbee(p9, p10);       //tx, rx via Xbee socket
+C12832_LCD lcd;                         // Decalre LCD screen
+LocalFileSystem local("local");         // Create the local filesystem under the name "local"
+float totalTime = 0.0;      //Total time used to calulate average wait time
+float avgTime = 0.0;        //Average time when error detected
+int errors = 0;             //Number of errors
+int total = 0;              //Total number of transmissisons
+float pctErr = 0.0;         //Percent of transmissions in error
+void keepAverage(float newNum);         //Prototype for funciton to make calculations
+
+int main()
+{
+    char abstr[25];    //used to store the whole app board string
+    int joystick;       //int value correspponding to the joystick bus
+    float Lpot;         //float correspionding to left potentiometer
+    float Rpot;         //float correspionding to right potentiometer
+    int id;
+    pc.baud(9600);    //crank up the PC baudrate (USB) to avoid latency between data acquisition
+    //xbee.baud(9600);
+    //Setup LCD screen
+    lcd.cls();
+    lcd.locate(0,1);
+    //Set up timers for transmission information
+    Timer t1;
+    Timer t2;
+    //Start timers
+    t1.start();
+    t2.start();
+    while(1) {
+        while(xbee.readable())          //clear out the remaining characters in the buffer
+            char c = xbee.getc();
+        //read the serial string from the xbee (starts with '$', ends with \r\n
+        xbee.scanf("$%s\r\n", &abstr);
+        //Verify that the string has the APPBOARD header
+        if(strncmp(abstr, "APPBOARD", 9)) { 
+            //Verify the tring was able to be parsed
+            if (sscanf(abstr, "APPBOARD,%f,%f,%d,%d",&Lpot,&Rpot,&joystick,&id) >= 1) {
+                //Check which input the transmission came from an act accordingly
+                if (id==0) {
+                    //Read time and report how long it has been since node was pooled
+                    if(t2.read() > 1) {
+                        //If time is more than 1 second consider it an error
+                        //Run the analysis program
+                        keepAverage(t2.read());
+                    }
+                    //Reset time
+                    t2.reset();
+                    //Print information to LCD screen
+                    lcd.locate(0,1);
+                    lcd.printf("M%d: L:%.02f R:%.02f J:%d %.02f\r\n",id,Lpot,Rpot,joystick,t1.read());
+                }
+                if (id==1) {
+                    if(t1.read() > 1) {
+                        keepAverage(t1.read());
+                    }
+                    t1.reset();
+                    lcd.locate(0,14);
+                    lcd.printf("M%d: L:%.02f R:%.02f J:%d %.02f\r\n",id,Lpot,Rpot,joystick,t2.read());
+                }
+                //Print values to screen
+                pc.printf("Mbed %d: L-%.02f:L R-%.02f Joystick:%d\r\n",id,Lpot,Rpot,joystick);
+            } else {
+                //Incorrect parse
+                pc.printf("BAD parse %s\r\n", abstr);
+            }
+        }
+        //Increment total
+        total+=1;
+        myled = !myled; //toggle LED for activity verification
+
+    }//while(1)
+}//main
+
+void keepAverage(float newNum)
+{
+    Timer t3;
+    t3.start();
+    errors ++;
+    totalTime += newNum;
+    avgTime = totalTime/(float)errors;
+    pctErr = (float)errors/(float)total;
+    pc.printf("overNum:%f avgErrTime:%.04f totalErrs:%d totalOut:%d pctErr:%.02f\r\n", newNum,avgTime,errors,total,pctErr);
+    FILE *fp = fopen("/local/out.csv", "a");  // Open "out.txt" on the local file system for writing
+    fprintf(fp,"%f,%.04f,%d,%d,%.02f,%.02f\r\n", newNum,avgTime,errors,total,pctErr,t3.read());
+    fclose(fp);
+}
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