Henry Herman
/
IAILinearActuators
Example of properly generated strings generated by MCU
main.cpp@0:5390ac30c076, 2014-02-24 (annotated)
- Committer:
- henryeherman
- Date:
- Mon Feb 24 05:55:50 2014 +0000
- Revision:
- 0:5390ac30c076
Initial commit that prints to terminal
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
henryeherman | 0:5390ac30c076 | 1 | #include "mbed.h" |
henryeherman | 0:5390ac30c076 | 2 | #include <stdio.h> |
henryeherman | 0:5390ac30c076 | 3 | #include <linact.hpp> |
henryeherman | 0:5390ac30c076 | 4 | |
henryeherman | 0:5390ac30c076 | 5 | using namespace IAI; |
henryeherman | 0:5390ac30c076 | 6 | LinActBuf lbuf; |
henryeherman | 0:5390ac30c076 | 7 | LinearActuator linact; |
henryeherman | 0:5390ac30c076 | 8 | DigitalOut myled(LED1); |
henryeherman | 0:5390ac30c076 | 9 | |
henryeherman | 0:5390ac30c076 | 10 | int main() { |
henryeherman | 0:5390ac30c076 | 11 | printf("Linear Actuator\r\n"); |
henryeherman | 0:5390ac30c076 | 12 | lbuf.buf[0] = 0x3f; |
henryeherman | 0:5390ac30c076 | 13 | lbuf.buf[1] = 0x03; |
henryeherman | 0:5390ac30c076 | 14 | lbuf.buf[2] = 0xf7; |
henryeherman | 0:5390ac30c076 | 15 | lbuf.buf[3] = 0x00; |
henryeherman | 0:5390ac30c076 | 16 | lbuf.buf[4] = 0x00; |
henryeherman | 0:5390ac30c076 | 17 | lbuf.buf[5] = 0x02; |
henryeherman | 0:5390ac30c076 | 18 | lbuf.len = 6; |
henryeherman | 0:5390ac30c076 | 19 | lbuf.calc_crc(); |
henryeherman | 0:5390ac30c076 | 20 | printf("%s\r\n", lbuf.as_string()); |
henryeherman | 0:5390ac30c076 | 21 | |
henryeherman | 0:5390ac30c076 | 22 | linact.getGwStatusStr(); |
henryeherman | 0:5390ac30c076 | 23 | printf("GWSTATUS: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 24 | linact.getGwStartStr(); |
henryeherman | 0:5390ac30c076 | 25 | printf("GWSTART: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 26 | |
henryeherman | 0:5390ac30c076 | 27 | linact.getAxisStatus(0); |
henryeherman | 0:5390ac30c076 | 28 | printf("Get AXIS 0 Status: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 29 | |
henryeherman | 0:5390ac30c076 | 30 | linact.getAxisStatus(1); |
henryeherman | 0:5390ac30c076 | 31 | printf("Get AXIS 1 Status: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 32 | |
henryeherman | 0:5390ac30c076 | 33 | linact.getAxisPos(0); |
henryeherman | 0:5390ac30c076 | 34 | printf("Get AXIS0 Pos: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 35 | |
henryeherman | 0:5390ac30c076 | 36 | linact.getSetAxisPos(1, 1000); |
henryeherman | 0:5390ac30c076 | 37 | printf("Get Set AXIS0 Pos: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 38 | |
henryeherman | 0:5390ac30c076 | 39 | linact.getSetAxisPos(1, 100000001); |
henryeherman | 0:5390ac30c076 | 40 | printf("Get Set AXIS0 Pos: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 41 | |
henryeherman | 0:5390ac30c076 | 42 | linact.getAxisStart(0); |
henryeherman | 0:5390ac30c076 | 43 | printf("Get Set AXIS0 Start: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 44 | |
henryeherman | 0:5390ac30c076 | 45 | linact.getAxisPause(0); |
henryeherman | 0:5390ac30c076 | 46 | printf("Get Set AXIS0 Pause: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 47 | |
henryeherman | 0:5390ac30c076 | 48 | linact.getAxisReset(0); |
henryeherman | 0:5390ac30c076 | 49 | printf("Get Set AXIS0 Reset: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 50 | |
henryeherman | 0:5390ac30c076 | 51 | linact.getAxisBrakeRelease(0); |
henryeherman | 0:5390ac30c076 | 52 | // It *LOOKS* like the CRC calculation in the datasheet is wrong? |
henryeherman | 0:5390ac30c076 | 53 | printf("Get Set AXIS0 Brake Release: %s\r\n", linact.buffer.as_string()); |
henryeherman | 0:5390ac30c076 | 54 | |
henryeherman | 0:5390ac30c076 | 55 | printf("\r\n"); |
henryeherman | 0:5390ac30c076 | 56 | linact.send(); |
henryeherman | 0:5390ac30c076 | 57 | printf("\r\n"); |
henryeherman | 0:5390ac30c076 | 58 | //linact.receiveStdin(5); |
henryeherman | 0:5390ac30c076 | 59 | //linact.receiveStdin(2); |
henryeherman | 0:5390ac30c076 | 60 | |
henryeherman | 0:5390ac30c076 | 61 | while(1) { |
henryeherman | 0:5390ac30c076 | 62 | myled = 1; |
henryeherman | 0:5390ac30c076 | 63 | wait(0.2); |
henryeherman | 0:5390ac30c076 | 64 | myled = 0; |
henryeherman | 0:5390ac30c076 | 65 | wait(0.2); |
henryeherman | 0:5390ac30c076 | 66 | } |
henryeherman | 0:5390ac30c076 | 67 | } |