michael hollegha
/
LineSensTest_B16
LineSensTest for Bertl16
Fork of B16Test4 by
LineSensTest_B16.cpp@2:fffc57eb649f, 2018-09-26 (annotated)
- Committer:
- hollegha3
- Date:
- Wed Sep 26 13:51:22 2018 +0000
- Revision:
- 2:fffc57eb649f
- Parent:
- 1:a2c68aba6d98
xx17
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hollegha3 | 1:a2c68aba6d98 | 1 | |
hollegha3 | 1:a2c68aba6d98 | 2 | #include "mbed.h" |
hollegha3 | 1:a2c68aba6d98 | 3 | #include "Serial_HL.h" |
hollegha3 | 1:a2c68aba6d98 | 4 | #include "Bertl16.h" |
hollegha3 | 2:fffc57eb649f | 5 | |
hollegha3 | 1:a2c68aba6d98 | 6 | SerialBLK pc(USBTX, USBRX); |
hollegha3 | 1:a2c68aba6d98 | 7 | SvProtocol ua0(&pc); |
hollegha3 | 1:a2c68aba6d98 | 8 | |
hollegha3 | 1:a2c68aba6d98 | 9 | void CommandHandler(); |
hollegha3 | 1:a2c68aba6d98 | 10 | |
hollegha3 | 2:fffc57eb649f | 11 | AnalogInHL2 ls1(P1_9), ls2(P0_23), ls3(P0_16), ls4(P0_15), ls5(P1_3); |
hollegha3 | 1:a2c68aba6d98 | 12 | |
hollegha3 | 1:a2c68aba6d98 | 13 | int main(void) |
hollegha3 | 1:a2c68aba6d98 | 14 | { |
hollegha3 | 2:fffc57eb649f | 15 | // MainPow und LineSensor einschalten |
hollegha3 | 2:fffc57eb649f | 16 | boardPow = 3; |
hollegha3 | 2:fffc57eb649f | 17 | pc.format(8,SerialBLK::None,1); |
hollegha3 | 2:fffc57eb649f | 18 | pc.baud(115200); // 115200 |
hollegha3 | 2:fffc57eb649f | 19 | ua0.SvMessage("LineSensTest_13"); // Meldung zum PC senden |
hollegha3 | 2:fffc57eb649f | 20 | AllLedsOff(); |
hollegha3 | 2:fffc57eb649f | 21 | |
hollegha3 | 2:fffc57eb649f | 22 | Timer stw; |
hollegha3 | 2:fffc57eb649f | 23 | stw.start(); |
hollegha3 | 2:fffc57eb649f | 24 | while(1) { |
hollegha3 | 2:fffc57eb649f | 25 | CommandHandler(); |
hollegha3 | 2:fffc57eb649f | 26 | if( (stw.read_ms()>10) ) { // 100Hz |
hollegha3 | 2:fffc57eb649f | 27 | // dieser Teil wird mit 100Hz aufgerufen |
hollegha3 | 2:fffc57eb649f | 28 | stw.reset(); |
hollegha3 | 2:fffc57eb649f | 29 | if( ua0.acqON ) { |
hollegha3 | 2:fffc57eb649f | 30 | // nur wenn vom PC aus das Senden eingeschaltet wurde |
hollegha3 | 2:fffc57eb649f | 31 | // wird auch etwas gesendet |
hollegha3 | 2:fffc57eb649f | 32 | ua0.WriteSvI16(1, ls1.Read()); |
hollegha3 | 2:fffc57eb649f | 33 | ua0.WriteSvI16(2, ls2.Read()); |
hollegha3 | 2:fffc57eb649f | 34 | ua0.WriteSvI16(3, ls3.Read()); |
hollegha3 | 2:fffc57eb649f | 35 | ua0.WriteSvI16(4, ls4.Read()); |
hollegha3 | 2:fffc57eb649f | 36 | ua0.WriteSvI16(5, ls5.Read()); |
hollegha3 | 2:fffc57eb649f | 37 | } |
hollegha3 | 2:fffc57eb649f | 38 | } |
hollegha3 | 1:a2c68aba6d98 | 39 | } |
hollegha3 | 2:fffc57eb649f | 40 | return 1; |
hollegha3 | 1:a2c68aba6d98 | 41 | } |
hollegha3 | 1:a2c68aba6d98 | 42 | |
hollegha3 | 1:a2c68aba6d98 | 43 | void CommandHandler() |
hollegha3 | 1:a2c68aba6d98 | 44 | { |
hollegha3 | 2:fffc57eb649f | 45 | uint8_t cmd; |
hollegha3 | 2:fffc57eb649f | 46 | // Fragen ob �berhaupt etwas im RX-Reg steht |
hollegha3 | 2:fffc57eb649f | 47 | if( !pc.IsDataAvail() ) |
hollegha3 | 2:fffc57eb649f | 48 | return; |
hollegha3 | 2:fffc57eb649f | 49 | // wenn etwas im RX-Reg steht |
hollegha3 | 2:fffc57eb649f | 50 | // Kommando lesen |
hollegha3 | 2:fffc57eb649f | 51 | cmd = ua0.GetCommand(); |
hollegha3 | 2:fffc57eb649f | 52 | |
hollegha3 | 2:fffc57eb649f | 53 | if( cmd==2 ) { |
hollegha3 | 2:fffc57eb649f | 54 | mL.SetPow2(ua0.ReadF()); mR.SetPow2(ua0.ReadF()); |
hollegha3 | 2:fffc57eb649f | 55 | ua0.SvMessage("Set Pow"); |
hollegha3 | 2:fffc57eb649f | 56 | } |
hollegha3 | 1:a2c68aba6d98 | 57 | } |
hollegha3 | 1:a2c68aba6d98 | 58 | |
hollegha3 | 1:a2c68aba6d98 | 59 | |
hollegha3 | 1:a2c68aba6d98 | 60 | |
hollegha3 | 1:a2c68aba6d98 | 61 | |
hollegha3 | 1:a2c68aba6d98 | 62 | |
hollegha3 | 1:a2c68aba6d98 | 63 | |
hollegha3 | 1:a2c68aba6d98 | 64 | |
hollegha3 | 1:a2c68aba6d98 | 65 | |
hollegha3 | 1:a2c68aba6d98 | 66 | |
hollegha3 | 1:a2c68aba6d98 | 67 | |
hollegha3 | 1:a2c68aba6d98 | 68 | |
hollegha3 | 1:a2c68aba6d98 | 69 | |
hollegha3 | 1:a2c68aba6d98 | 70 | |
hollegha3 | 1:a2c68aba6d98 | 71 | |
hollegha3 | 1:a2c68aba6d98 | 72 | |
hollegha3 | 1:a2c68aba6d98 | 73 | |
hollegha3 | 1:a2c68aba6d98 | 74 |