Jochem Brouwer / MatlabComm

Matlab connection via the serial port, to control the robot from there (interactively)

Dependencies:   MODSERIAL QEI

MatlabComm.h@3:4fd668c1dbf5, 2016-11-01 (annotated)

Committer:
jbrouwer
Date:
Tue Nov 01 02:36:29 2016 +0000
Revision:
3:4fd668c1dbf5
Parent:
0:08d5f31c6ddc 
Added example code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jbrouwer 0:08d5f31c6ddc 1 #include "QEI.h"
jbrouwer 0:08d5f31c6ddc 2 #include "MODSERIAL.h"
jbrouwer 0:08d5f31c6ddc 3 #include "stdio.h" //sscanf
jbrouwer 0:08d5f31c6ddc 4 #include "mbed.h"
jbrouwer 0:08d5f31c6ddc 5 #include "math.h" // abs
jbrouwer 0:08d5f31c6ddc 6
jbrouwer 0:08d5f31c6ddc 7 // Serial communications with Matlab, to control the robot and make a design.
jbrouwer 0:08d5f31c6ddc 8 // Communications sent:
jbrouwer 0:08d5f31c6ddc 9 // %i; Pulses sent, followed by a \r\n;
jbrouwer 0:08d5f31c6ddc 10 // This will be sent on every call of MatlabComm.
jbrouwer 0:08d5f31c6ddc 11 // In case of data, MatlabComm will read the Serial input buffer until it is empty, or until it has read a number
jbrouwer 0:08d5f31c6ddc 12
jbrouwer 0:08d5f31c6ddc 13 class MatlabComm {
jbrouwer 0:08d5f31c6ddc 14 public:
jbrouwer 0:08d5f31c6ddc 15 MatlabComm(PinName MotorDirectionPin, PinName MotorSpeedPin, PinName EncoderChannelA, PinName EncoderChannelB);
jbrouwer 0:08d5f31c6ddc 16 void Step();
jbrouwer 0:08d5f31c6ddc 17 private:
jbrouwer 0:08d5f31c6ddc 18 PwmOut M_SpeedPin;
jbrouwer 0:08d5f31c6ddc 19 DigitalOut M_DirectionPin;
jbrouwer 0:08d5f31c6ddc 20 QEI M_Encoder;
jbrouwer 0:08d5f31c6ddc 21 MODSERIAL pc;
jbrouwer 0:08d5f31c6ddc 22 void read();
jbrouwer 0:08d5f31c6ddc 23 void write();
jbrouwer 0:08d5f31c6ddc 24 void flush_buffer();
jbrouwer 0:08d5f31c6ddc 25 static const int buffer_max_index=29;
jbrouwer 0:08d5f31c6ddc 26 char char_buffer[30];
jbrouwer 0:08d5f31c6ddc 27 int buffer_index;
jbrouwer 0:08d5f31c6ddc 28 };