Revision 1:c603de57c8b6, committed 2015-12-16

Comitter:

jcabello7

Date:

Wed Dec 16 16:06:25 2015 +0000

Parent:

0:be638f6ee353

Child:

2:1ac2d1debc92

Commit message:

Versi? que admet angles negatius, nomes falta afegir la part de comprovaci? de connexi?

Changed in this revision

--- a/main.cpp	Wed Dec 16 14:48:28 2015 +0000
+++ b/main.cpp	Wed Dec 16 16:06:25 2015 +0000
@@ -1,8 +1,11 @@
 #include "mbed.h"
 #include "rtos.h"
 #include <string>
+// -----------------------------
+// ---- NO TOCAR DESDE AQUI ----
+// -----------------------------
 
-#define longString 128
+#define longString 128 //longString es la longitud màxima del string
 
 class Pc : public RawSerial {
     public:
@@ -38,12 +41,27 @@
  };
  
  class Hc05 : public RawSerial {
+    private:
+    int mode, vel, ang;
+    char strLlegit[longString]; 
     public:
         //Mutex mutex;
         Hc05(PinName tx, PinName rx) : RawSerial(tx, rx){
             baud(115200);
+            mode = vel = ang = 0;
+            iniString();
             };
             
+        void iniString(){
+            strLlegit[0] = 'S';
+            strLlegit[1] = 't';
+            strLlegit[2] = 'r';
+            strLlegit[3] = 'i';
+            strLlegit[4] = 'n';
+            strLlegit[5] = 'g';
+            strLlegit[6] = '\0';
+        };
+            
         void enviaString(char* str){
             int i = 0;
             while((i < longString) && (str[i] != '\0')) {
@@ -54,19 +72,19 @@
         };
         
         
-        bool llegirString(char* str){
+        bool llegirString(){
             if(readable()){
                 char c = getc();
                 int i = 0;
                 //mutex.lock();
                 while((i < longString) && (c != 13)) {
                     if(c!='@'){
-                        str[i] = c;
+                        strLlegit[i] = c;
                         i++;
                     }
                     c = getc();
                 }
-                str[i] = '\0';
+                strLlegit[i] = '\0';
                 //mutex.unlock();
                 return true;
                 
@@ -74,52 +92,73 @@
             return false;
         };
         
-        void tractaString(char* str, int& mode, int& vel, int& ang){
-            if ((str[0] == 'a') && (str[1] == 'v') && (str[2] == 'a') && (str[3] == 'n'))
+        void tractaString(){
+            if ((strLlegit[0] == 'a') && (strLlegit[1] == 'v') && (strLlegit[2] == 'a') && (strLlegit[3] == 'n'))
                 mode = 1;
-            if ((str[0] == 'r') && (str[1] == 'o') && (str[2] == 't') && (str[3] == 'a'))
+            if ((strLlegit[0] == 'r') && (strLlegit[1] == 'o') && (strLlegit[2] == 't') && (strLlegit[3] == 'a'))
                 mode = 2;
-            if ((str[0] == 's') && (str[1] == 't') && (str[2] == 'o') && (str[3] == 'p'))
+            if ((strLlegit[0] == 's') && (strLlegit[1] == 't') && (strLlegit[2] == 'o') && (strLlegit[3] == 'p')){
                 mode = 0;
+                vel = 0;
+                ang = 0;
+            }
             if ((mode == 1) || (mode==2)){
-                char svel[4], sang[4];
-                for(int i = 0; i<=3;i++){
-                    sang[i] = str[i+5];
-                    svel[i] = str[i+9];    
+                char svel[5], sang[5];
+                for(int i = 0; i<=4;i++){
+                    sang[i] = strLlegit[i+5];
+                    svel[i] = strLlegit[i+10];    
                 }
-                sang[3] = svel[3] = '\0';
+                sang[4] = svel[4] = '\0';
                 vel = atoi(svel);
                 ang = atoi(sang);
             }
         };
-
+        
+        int getMode(){return mode;};
+        int getVel(){return vel;};
+        int getAng(){return ang;};
+        void getStringLlegit(char* str){
+            int i = 0;
+            while((i < longString) && (strLlegit[i] != '\0')) {
+                str[i] = strLlegit[i];
+                i++;
+            }
+            str[i] = '\0';
+        };
 };
+// ----------------------------
+// ---- NO TOCAR FINS AQUI ----
+// ----------------------------
 
-Pc pc(USBTX, USBRX);
-Hc05 bt(D8, D2);
-char prova[longString] = "hola";
-char enviar[longString] = "enviar";
-int mode, vel, ang;
+Pc pc(USBTX, USBRX);    //Per provar si funciona, no cal al programa
+Hc05 bt(D8, D2);        //Crea l'objecte bt, connectat als pins D8 i D2 (és la connexió sèrie BT)
+char prova[longString] = "hola"; //Per provar si funciona, no cal al programa
 
- 
+
+//Aquest serà el meu fil, que va llegint cada 300ms del HC-05 
 void llegir_thread(void const *args) {
     while (true) {
-        //pc.enviaString(prova);
-        bt.llegirString(prova);
-        bt.tractaString(prova, mode, vel, ang);
+        bt.llegirString();
+        bt.getStringLlegit(prova); //Per provar si funciona, no cal al programa
+        bt.tractaString();
         Thread::wait(300);
     }
 }
- 
+
+//Aquest serà el programa principal
 int main() {
-    mode = vel = ang = 0;
-    Thread thread(llegir_thread);
+    
+    Thread thread(llegir_thread);        //Inicia el fil llegir_thread
     
     while (true) {
-        pc.enviaString(prova);
-        if(vel==50)
-            pc.enviaString("VEL=50");
-        
-        Thread::wait(1000);
+        pc.enviaString(prova);           //Per provar si funciona, no cal al programa
+        if(bt.getAng()<0)                //Per provar si funciona, no cal al programa
+            pc.enviaString("ANGLE<0");   //Per provar si funciona, no cal al programa
+        if(bt.getVel()== 60)             //Per provar si funciona, no cal al programa
+            pc.enviaString("VEL=60");    //Per provar si funciona, no cal al programa
+        bt.getMode(); //Retorna 0 si ha llegit l'ordre parar, 1 per avançar, 2 per rotar, -1 si hi ha error de connexio
+        bt.getVel();  //Retorna un enter amb la velocitat (de 0 a 100)
+        bt.getAng();  //Retorna un enter amb l'angle (de -180º a 180º)
+        Thread::wait(1000);              
     }
 }
\ No newline at end of file