Kristof T'Jonck / Mbed 2 deprecated proj2_car

m3pi for proj2

Dependencies:   RemoteIR m3pi mbed-rtos mbed

LightCommunication.cpp@9:8c5229dfab82, 2017-05-10 (annotated)

Committer:
Kristof@LAPTOP-FT09DA9V
Date:
Wed May 10 10:01:29 2017 +0200
Revision:
9:8c5229dfab82
Parent:
7:1d77c7e0208c
Child:
10:7eaaa891ab81
added communication

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 1 //
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 2 // Created by Kristof on 5/9/2017.
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 3 //
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 4
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 5 #include "LightCommunication.h"
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 6
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 7 LightCommunication::LightCommunication() {
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 8 ir_rx = new ReceiverIR(p21);
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 9 device = new Serial(p14,p15);
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 10 mut = new Mutex();
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 11 left,right = 0;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 12 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 13
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 14 LightCommunication::~LightCommunication() {
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 15
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 16 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 17
Kristof@LAPTOP-FT09DA9V 5:5d2beac511c1 18 void LightCommunication::getSerial(char * test) {
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 19 if(device->readable()) {
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 20 device->scanf("%s",test);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 21 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 22 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 23
Kristof@LAPTOP-FT09DA9V 5:5d2beac511c1 24 void LightCommunication::getIRStyle(uint8_t * buf) {
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 25 RemoteIR::Format format;
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 26 if (ir_rx->getState() == ReceiverIR::Received) {
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 27 ir_rx->getData(&format, buf, sizeof(buf) * 8);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 28 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 29 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 30
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 31 void LightCommunication::receiveData() {
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 32 mut->lock();
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 33 //uint8_t * data = LightCommunication::getIRStyle();
Kristof@LAPTOP-FT09DA9V 5:5d2beac511c1 34 char data[3];
Kristof@LAPTOP-FT09DA9V 5:5d2beac511c1 35 LightCommunication::getSerial(data);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 36
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 37 printf("%X \n",data[2]);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 38 printf("%d \n",data[2]);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 39 if (OWN_ID == (int) data[0]) {
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 40 left = LightCommunication::toFloat(data[1]);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 41 right = LightCommunication::toFloat(data[2]);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 42 }
Kristof@LAPTOP-FT09DA9V 6:02f045d7695d 43
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 44 mut->unlock();
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 45 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 46
Kristof@LAPTOP-FT09DA9V.home 2:70240992e869 47 float LightCommunication::getRight(float cur_right){
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 48 float r = right - cur_right;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 49 if (r>0){
Kristof@LAPTOP-FT09DA9V 6:02f045d7695d 50 return (float)(cur_right + 0.005);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 51 }else if (r<0){
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 52
Kristof@LAPTOP-FT09DA9V 6:02f045d7695d 53 return (float)(cur_right -0.005);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 54 }else{
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 55 return cur_right;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 56 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 57 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 58
Kristof@LAPTOP-FT09DA9V.home 2:70240992e869 59 float LightCommunication::getLeft(float cur_left){
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 60
Kristof@LAPTOP-FT09DA9V 9:8c5229dfab82 61 mut->lock();
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 62 float l = left - cur_left;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 63 if (l>0){
Kristof@LAPTOP-FT09DA9V 6:02f045d7695d 64 return (float)(cur_left + 0.005);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 65 }else if (l<0){
Kristof@LAPTOP-FT09DA9V 6:02f045d7695d 66 return (float)(cur_left -0.005);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 67 }else{
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 68 return cur_left;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 69 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 70 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 71
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 72 float LightCommunication::toFloat(int8_t a) {
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 73 return ((float)a)/100;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 74 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 75
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 76 bool LightCommunication::needsToStop() {
Kristof@LAPTOP-FT09DA9V 6:02f045d7695d 77 return right == 0 && left == 0;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 78 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 79
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 80