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| kagelump |
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// Display Test
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| kagelump |
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2
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#include "KS0108.h"
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| kagelump |
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3
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#include "calsolimage.h"
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| kagelump |
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4
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#include "MyPhone_20.h"
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| kagelump |
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5
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#include "MyPhone_40.h"
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| kagelump |
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6
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#include "rtos.h"
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| kagelump |
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7
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| kagelump |
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8
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// Declare each of the things you're going to use
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| kagelump |
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9
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| kagelump |
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10
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// The display
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| kagelump |
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KS0108 display(p23,p21,p22,p20,p24,p25,p17,p18,p19,p30,p29,p28,p27,p26);
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| kagelump |
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// The button on the breadboard
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| kagelump |
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DigitalIn topButton(p13);
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| kagelump |
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// For printing things to the computer
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| kagelump |
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Serial pc(USBTX,USBRX);
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| kagelump |
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16
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| kagelump |
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// Timers
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| kagelump |
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Timer timer;
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| kagelump |
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Timer testTimer;
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| kagelump |
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| kagelump |
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//Methods
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| kagelump |
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void readFromCAN();
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| kagelump |
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void setupScreen();
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| kagelump |
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void updateBattery(int newVoltage);
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| kagelump |
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void updateBatteryGraphic(int newPercentage, int percentage);
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| kagelump |
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void printCenteredInt(int newInt, int oldInt, int startX, int startY, int charWidth, int charHeight, int charSpacing, int maxDigits);
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| kagelump |
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void printCenteredInt(int newInt, int oldInt, int leftLimit, int rightLimit, int startY, int charWidth, int charHeight, int charSpacing, int maxDigits);
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| kagelump |
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void printRightJustifiedInt(int newInt, int oldInt, int startX, int startY, int charWidth, int charHeight, int charSpacing, int maxDigits);
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| kagelump |
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// Constants
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| kagelump |
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//Maximum voltage for battery = 151.2 V (4.2V per cell, 36 cells total)
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| kagelump |
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const double MaxVoltage = 151.2;
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| kagelump |
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//Minimum voltage for battery = 108 V (3V per cell, 36 cells total)
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const double MinVoltage = 108;
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// Mutex and screen state
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| kagelump |
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Mutex screen_mutex;
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| kagelump |
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CAN can(p9, p10);
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| kagelump |
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int demo = 0;
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| kagelump |
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//Speed: int from 0 to 999, in mph
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int speed = 0, newSpeed = 0;
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| kagelump |
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//Voltage: int from MinVoltage to MaxVoltage, in volts
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| kagelump |
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int voltage = MinVoltage, newVoltage = MinVoltage;
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| kagelump |
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47
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//Current: int from 0 to 9999, in milliAmps
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| kagelump |
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int amperage = 0, newAmperage = 0;
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| kagelump |
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50
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| kagelump |
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//Union type to make float to char conversion easier (used to read CAN messages)
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| kagelump |
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typedef union _data
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| kagelump |
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{
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| kagelump |
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float f[2];
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| kagelump |
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char s[8];
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| kagelump |
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56
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} floatchar;
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| kagelump |
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57
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| kagelump |
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58
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//Union type to make int to char conversion easier (used to read CAN messages)
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| kagelump |
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59
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typedef union _data2
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| kagelump |
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60
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{
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| kagelump |
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61
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uint16_t i[4];
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| kagelump |
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62
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char s[8];
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| kagelump |
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63
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} intchar;
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| kagelump |
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64
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| kagelump |
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65
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| kagelump |
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66
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/* Input thread - Modifies state variables based on input */
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| kagelump |
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67
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void input_runner(void const *argument) {
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| kagelump |
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68
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while (true) {
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| kagelump |
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69
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// If top button is pressed, don't accept other input
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| kagelump |
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70
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if (!topButton) {
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| kagelump |
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71
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// Debounce wait
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| kagelump |
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72
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Thread::wait(100);
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| kagelump |
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73
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if (!topButton) {
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| kagelump |
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74
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screen_mutex.lock();
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| kagelump |
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75
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demo++;
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| kagelump |
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76
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if (demo > 1) {
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| kagelump |
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77
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demo = 0;
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| kagelump |
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78
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}
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| kagelump |
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79
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screen_mutex.unlock();
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| kagelump |
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80
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}
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| kagelump |
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81
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// Don't accept other input while button is pressed
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| kagelump |
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82
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while(!topButton) {
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| kagelump |
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83
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Thread::wait(100);
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| kagelump |
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84
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}
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| kagelump |
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85
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}
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| kagelump |
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86
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}
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| kagelump |
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87
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}
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| kagelump |
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88
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| kagelump |
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89
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| kagelump |
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90
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// This is where your programs starts running
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| kagelump |
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91
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int main()
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| kagelump |
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{
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| kagelump |
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93
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// Initialize variables**
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| kagelump |
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94
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int current_demo = demo;
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| kagelump |
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topButton.mode(PullUp);
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| kagelump |
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96
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// Display CalSol logo
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| kagelump |
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97
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display.FullScreenBMP(pic);
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| kagelump |
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98
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Thread::wait(200);
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| kagelump |
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99
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| kagelump |
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100
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timer.start();
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| kagelump |
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101
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| kagelump |
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102
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// Start the button thread
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| kagelump |
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103
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Thread button_thread(input_runner);
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| kagelump |
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104
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| kagelump |
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105
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// Main thread
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| kagelump |
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106
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while(1) {
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| kagelump |
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107
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// First, check if the state has changed, if so, wipe the screen
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| kagelump |
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108
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int changed = 0;
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| kagelump |
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109
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screen_mutex.lock();
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| kagelump |
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110
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if (current_demo != demo)
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| kagelump |
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111
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{
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| kagelump |
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112
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changed = 1;
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| kagelump |
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113
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}
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| kagelump |
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114
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current_demo = demo;
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| kagelump |
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115
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screen_mutex.unlock();
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| kagelump |
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116
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| kagelump |
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117
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// Wipe the screen
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| kagelump |
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118
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if (changed)
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| kagelump |
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119
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{
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| kagelump |
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120
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display.ClearScreen();
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| kagelump |
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121
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changed = 0;
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| kagelump |
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122
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}
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| kagelump |
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123
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| kagelump |
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124
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// Now run the actual program
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| kagelump |
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125
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switch(current_demo)
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| kagelump |
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126
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{
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| kagelump |
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127
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// Demo 0: Just display the CalSol logo
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| kagelump |
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128
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case 0:
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| kagelump |
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129
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if(timer.read_ms() > 500)
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| kagelump |
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130
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{
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| kagelump |
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131
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display.FullScreenBMP(pic);
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| kagelump |
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132
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timer.reset();
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| kagelump |
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133
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}
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| kagelump |
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134
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break;
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| kagelump |
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135
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| kagelump |
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136
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// Demo 1: Display a mock speedometer, with battery level
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| kagelump |
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137
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case 1:
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| kagelump |
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138
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//Initialize variables
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| kagelump |
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139
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speed = newSpeed = 60;
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| kagelump |
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140
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amperage = newAmperage = 900;
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| kagelump |
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141
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voltage = newVoltage = MaxVoltage;
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| kagelump |
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142
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| kagelump |
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143
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setupScreen();
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| kagelump |
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144
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testTimer.start();
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| kagelump |
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145
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| kagelump |
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146
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//Display values as they are being changed
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| kagelump |
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147
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while (true)
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| kagelump |
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148
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{
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| kagelump |
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149
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/* This part tests the printing
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| kagelump |
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150
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| kagelump |
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151
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//Randomly selects values between appropriate ranges.
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| kagelump |
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152
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speed = (int)(rand()%200);
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| kagelump |
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153
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amperage = (int)(rand()%1000);
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| kagelump |
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154
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voltage = (int)(rand()%100);
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| kagelump |
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155
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| kagelump |
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156
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//Changes values from 1 to 3 or 4 digits to test proper spacing and erasing with changing num of digits
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| kagelump |
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157
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if (testTimer.read_ms()%1000 == 0)
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| kagelump |
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158
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{
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| kagelump |
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159
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switch ((testTimer.read_ms()/1000)%4)
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| kagelump |
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160
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{
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| kagelump |
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161
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case 0: //1 digit
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| kagelump |
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162
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newSpeed = (int)(rand()%9)+1;
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| kagelump |
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163
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newAmperage = (int)(rand()%9)+1;
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| kagelump |
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164
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break;
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| kagelump |
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165
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case 3: //2 digits
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| kagelump |
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166
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newSpeed = (int)(rand()%90)+10;
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| kagelump |
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167
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newAmperage = (int)(rand()%90)+10;
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| kagelump |
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168
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break;
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| kagelump |
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169
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case 2: //3 digits
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| kagelump |
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170
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newSpeed = (int)(rand()%900)+100;
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| kagelump |
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171
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newAmperage = (int)(rand()%900)+100;
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| kagelump |
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172
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break;
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| kagelump |
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173
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case 1: //4 digits
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| kagelump |
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174
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newSpeed = (int)(rand()%90)+100;
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| kagelump |
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175
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newAmperage = (int)(rand()%900)+1000;
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| kagelump |
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176
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break;
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| kagelump |
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177
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default: break;
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| kagelump |
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178
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}
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| kagelump |
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|
179
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}*/
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| kagelump |
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|
180
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|
| kagelump |
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181
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//Keeps screen from updating too much
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| kagelump |
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182
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if (testTimer.read_ms()%1000==0)
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| kagelump |
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183
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{
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| kagelump |
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184
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/* More printing testing
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| kagelump |
0:b669c97da2c0
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185
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| kagelump |
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186
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//Randomly increases or decreases values within a small range
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| kagelump |
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187
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newSpeed += (int)((rand()%5)-2);
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| kagelump |
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188
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newAmperage += (int)((rand()%21)-10);
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| kagelump |
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189
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newVoltage += (int)((rand()%3)-1);
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| kagelump |
0:b669c97da2c0
|
190
|
|
| kagelump |
0:b669c97da2c0
|
191
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//Keeps voltage between allowed values
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| kagelump |
0:b669c97da2c0
|
192
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if (newVoltage < MinVoltage || newVoltage > MaxVoltage)
|
| kagelump |
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193
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newVoltage = MaxVoltage;
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| kagelump |
0:b669c97da2c0
|
194
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*/
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| kagelump |
0:b669c97da2c0
|
195
|
|
| kagelump |
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|
196
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readFromCAN();
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| kagelump |
0:b669c97da2c0
|
197
|
|
| kagelump |
0:b669c97da2c0
|
198
|
updateBattery(newVoltage);
|
| kagelump |
0:b669c97da2c0
|
199
|
|
| kagelump |
0:b669c97da2c0
|
200
|
//Updates speed
|
| kagelump |
0:b669c97da2c0
|
201
|
display.SelectFont(MyPhone_40, BLACK, ReadData);
|
| kagelump |
0:b669c97da2c0
|
202
|
printCenteredInt(newSpeed, speed, 12, 16, 15, 23, 1, 3);
|
| kagelump |
0:b669c97da2c0
|
203
|
speed = newSpeed;
|
| kagelump |
0:b669c97da2c0
|
204
|
|
| kagelump |
0:b669c97da2c0
|
205
|
//Updates amperage
|
| kagelump |
0:b669c97da2c0
|
206
|
display.SelectFont(MyPhone_20, BLACK, ReadData);
|
| kagelump |
0:b669c97da2c0
|
207
|
printCenteredInt(newAmperage, amperage, 76, 40+8, 8, 11, 1, 4);
|
| kagelump |
0:b669c97da2c0
|
208
|
amperage = newAmperage;
|
| kagelump |
0:b669c97da2c0
|
209
|
}
|
| kagelump |
0:b669c97da2c0
|
210
|
}
|
| kagelump |
0:b669c97da2c0
|
211
|
break;
|
| kagelump |
0:b669c97da2c0
|
212
|
default: break;
|
| kagelump |
0:b669c97da2c0
|
213
|
}
|
| kagelump |
0:b669c97da2c0
|
214
|
}
|
| kagelump |
0:b669c97da2c0
|
215
|
}
|
| kagelump |
0:b669c97da2c0
|
216
|
|
| kagelump |
0:b669c97da2c0
|
217
|
void setupScreen()
|
| kagelump |
0:b669c97da2c0
|
218
|
{
|
| kagelump |
0:b669c97da2c0
|
219
|
//Draws grid lines to separate the screen.
|
| kagelump |
0:b669c97da2c0
|
220
|
//Dimensions: (Speed) 70x64, (Battery) 57x42, (Amperage) 57x22
|
| kagelump |
0:b669c97da2c0
|
221
|
display.HLineShort(71, 42, 57, BLACK);
|
| kagelump |
0:b669c97da2c0
|
222
|
display.VLineShort(71, 0, 64, BLACK);
|
| kagelump |
0:b669c97da2c0
|
223
|
|
| kagelump |
0:b669c97da2c0
|
224
|
//This covers the stray black pixel...
|
| kagelump |
0:b669c97da2c0
|
225
|
display.SetPixel(71-5, 42, WHITE);
|
| kagelump |
0:b669c97da2c0
|
226
|
|
| kagelump |
0:b669c97da2c0
|
227
|
//Draws the outline for battery graphic. Dimensions: 40x24, 4x8
|
| kagelump |
0:b669c97da2c0
|
228
|
display.RoundRectangle(82, 4, 40, 24, 4, BLACK);
|
| kagelump |
0:b669c97da2c0
|
229
|
display.EmptyRectangle(78, 12, 78+4, 12+8, BLACK);
|
| kagelump |
0:b669c97da2c0
|
230
|
|
| kagelump |
0:b669c97da2c0
|
231
|
//Prints MPH
|
| kagelump |
0:b669c97da2c0
|
232
|
display.SelectFont(System5x7, BLACK, ReadData);
|
| kagelump |
0:b669c97da2c0
|
233
|
display.GotoXY(26, 48);
|
| kagelump |
0:b669c97da2c0
|
234
|
display.PrintString("MPH");
|
| kagelump |
0:b669c97da2c0
|
235
|
|
| kagelump |
0:b669c97da2c0
|
236
|
//Print mAmp
|
| kagelump |
0:b669c97da2c0
|
237
|
display.SelectFont(System5x7, BLACK, ReadData);
|
| kagelump |
0:b669c97da2c0
|
238
|
display.GotoXY(114, 24+24);
|
| kagelump |
0:b669c97da2c0
|
239
|
display.PrintString("mA");
|
| kagelump |
0:b669c97da2c0
|
240
|
|
| kagelump |
0:b669c97da2c0
|
241
|
//Prints the percent sign
|
| kagelump |
0:b669c97da2c0
|
242
|
display.GotoXY(108, 24+8);
|
| kagelump |
0:b669c97da2c0
|
243
|
display.PrintString("%");
|
| kagelump |
0:b669c97da2c0
|
244
|
|
| kagelump |
0:b669c97da2c0
|
245
|
//Draws initial shaded box for battery
|
| kagelump |
0:b669c97da2c0
|
246
|
display.FullRectangle(86+(int)(((double)(100-((newVoltage - MinVoltage)/(MaxVoltage - MinVoltage)*100))/100.0)*32), 4+4, 86+32, 4+24-4, BLACK);
|
| kagelump |
0:b669c97da2c0
|
247
|
}
|
| kagelump |
0:b669c97da2c0
|
248
|
|
| kagelump |
0:b669c97da2c0
|
249
|
//This exists to fix the problem with the percentage printing that was occuring for unknown reasons.
|
| kagelump |
0:b669c97da2c0
|
250
|
//Writes an int to the screen right-justified over another int.
|
| kagelump |
0:b669c97da2c0
|
251
|
void printRightJustifiedPercentage(int newInt, int oldInt, int startX, int startY, int charWidth, int charHeight, int charSpacing, int maxDigits)
|
| kagelump |
0:b669c97da2c0
|
252
|
{
|
| kagelump |
0:b669c97da2c0
|
253
|
for (int digits = maxDigits; digits > 0; digits--)
|
| kagelump |
0:b669c97da2c0
|
254
|
{
|
| kagelump |
0:b669c97da2c0
|
255
|
if (newInt >= (int)pow(10.0, digits-1))
|
| kagelump |
0:b669c97da2c0
|
256
|
{
|
| kagelump |
0:b669c97da2c0
|
257
|
//Instead of checking if digits need to be erased, all digits will be erased
|
| kagelump |
0:b669c97da2c0
|
258
|
//Erases digits that will not be covered by new text.
|
| kagelump |
0:b669c97da2c0
|
259
|
display.FullRectangle(startX, startY, startX + (charWidth+charSpacing) * (maxDigits - digits), startY + charHeight, WHITE);
|
| kagelump |
0:b669c97da2c0
|
260
|
display.GotoXY(startX + (charWidth+charSpacing) * (maxDigits - digits), startY);
|
| kagelump |
0:b669c97da2c0
|
261
|
//Break out of loop.
|
| kagelump |
0:b669c97da2c0
|
262
|
digits = -1;
|
| kagelump |
0:b669c97da2c0
|
263
|
}
|
| kagelump |
0:b669c97da2c0
|
264
|
}
|
| kagelump |
0:b669c97da2c0
|
265
|
display.PrintNumber(newInt);
|
| kagelump |
0:b669c97da2c0
|
266
|
}
|
| kagelump |
0:b669c97da2c0
|
267
|
|
| kagelump |
0:b669c97da2c0
|
268
|
//Writes an int to the screen center-justified over another int.
|
| kagelump |
0:b669c97da2c0
|
269
|
void printCenteredInt(int newInt, int oldInt, int startX, int startY, int charWidth, int charHeight, int charSpacing, int maxDigits)
|
| kagelump |
0:b669c97da2c0
|
270
|
{
|
| kagelump |
0:b669c97da2c0
|
271
|
for (int digits = maxDigits; digits > 0; digits--)
|
| kagelump |
0:b669c97da2c0
|
272
|
{
|
| kagelump |
0:b669c97da2c0
|
273
|
//If current value has "digits" number of digits
|
| kagelump |
0:b669c97da2c0
|
274
|
if (newInt >= (int)pow(10.0, digits-1))
|
| kagelump |
0:b669c97da2c0
|
275
|
{
|
| kagelump |
0:b669c97da2c0
|
276
|
//If previous value had more digits than current value
|
| kagelump |
0:b669c97da2c0
|
277
|
if (oldInt >= (int)pow(10.0, digits))
|
| kagelump |
0:b669c97da2c0
|
278
|
{
|
| kagelump |
0:b669c97da2c0
|
279
|
//Erases all possible digits that could be on screen.
|
| kagelump |
0:b669c97da2c0
|
280
|
//**First parameter should logically be startX, but it starts erasing 1 pixel too far to the right for some reason. ???
|
| kagelump |
0:b669c97da2c0
|
281
|
display.FullRectangle(startX-1, startY, startX + maxDigits*(charWidth+charSpacing), startY + charHeight, WHITE);
|
| kagelump |
0:b669c97da2c0
|
282
|
}
|
| kagelump |
0:b669c97da2c0
|
283
|
display.GotoXY(startX + 0.5*((maxDigits - digits)*charWidth + (maxDigits - digits - 1)*charSpacing), startY);
|
| kagelump |
0:b669c97da2c0
|
284
|
//Break out of loop.
|
| kagelump |
0:b669c97da2c0
|
285
|
digits = -1;
|
| kagelump |
0:b669c97da2c0
|
286
|
}
|
| kagelump |
0:b669c97da2c0
|
287
|
}
|
| kagelump |
0:b669c97da2c0
|
288
|
display.PrintNumber(newInt);
|
| kagelump |
0:b669c97da2c0
|
289
|
}
|
| kagelump |
0:b669c97da2c0
|
290
|
|
| kagelump |
0:b669c97da2c0
|
291
|
//Updates the battery graphic and prints corresponding percentage or voltage.
|
| kagelump |
0:b669c97da2c0
|
292
|
void updateBattery(int newVoltage)
|
| kagelump |
0:b669c97da2c0
|
293
|
{
|
| kagelump |
0:b669c97da2c0
|
294
|
//These are needed for the battery graphic, even if the values won't be displayed.
|
| kagelump |
0:b669c97da2c0
|
295
|
int percentage = (voltage - MinVoltage)/(MaxVoltage - MinVoltage)*100;
|
| kagelump |
0:b669c97da2c0
|
296
|
int newPercentage = (newVoltage - MinVoltage)/(MaxVoltage - MinVoltage)*100;
|
| kagelump |
0:b669c97da2c0
|
297
|
|
| kagelump |
0:b669c97da2c0
|
298
|
//This line fixes the printing problem with the percentage that was caused by drawing shaded rectangle. Might have something to do with the method WriteInstruction(int, int) used by both methods.
|
| kagelump |
0:b669c97da2c0
|
299
|
display.SetPixel(88, 32, WHITE);
|
| kagelump |
0:b669c97da2c0
|
300
|
|
| kagelump |
0:b669c97da2c0
|
301
|
// ** Problem: after a while of letting it run, sometimes a 0 will show up 1 pxl to the right of the hundreds place. But it gets erased when voltage drops enough
|
| kagelump |
0:b669c97da2c0
|
302
|
//Prints percentage
|
| kagelump |
0:b669c97da2c0
|
303
|
display.SelectFont(System5x7, BLACK, ReadData);
|
| kagelump |
0:b669c97da2c0
|
304
|
printRightJustifiedPercentage(newPercentage, percentage, 88, 32, 5, 7, 1, 3);
|
| kagelump |
0:b669c97da2c0
|
305
|
|
| kagelump |
0:b669c97da2c0
|
306
|
//Prints voltage -- currently NOT IN USE
|
| kagelump |
0:b669c97da2c0
|
307
|
/*display.SelectFont(System5x7, BLACK, ReadData);
|
| kagelump |
0:b669c97da2c0
|
308
|
display.GotoXY(108, 24+8);
|
| kagelump |
0:b669c97da2c0
|
309
|
display.PrintString("V");
|
| kagelump |
0:b669c97da2c0
|
310
|
display.SelectFont(System5x7, BLACK, ReadData);
|
| kagelump |
0:b669c97da2c0
|
311
|
printRightJustifiedInt(newVoltage, voltage, 88, 32, 5, 7, 1, 3);*/
|
| kagelump |
0:b669c97da2c0
|
312
|
|
| kagelump |
0:b669c97da2c0
|
313
|
updateBatteryGraphic(newPercentage, percentage);
|
| kagelump |
0:b669c97da2c0
|
314
|
|
| kagelump |
0:b669c97da2c0
|
315
|
percentage = newPercentage;
|
| kagelump |
0:b669c97da2c0
|
316
|
voltage = newVoltage;
|
| kagelump |
0:b669c97da2c0
|
317
|
}
|
| kagelump |
0:b669c97da2c0
|
318
|
|
| kagelump |
0:b669c97da2c0
|
319
|
//Changes shaded area of graphic to reflect current battery level. Dimensions 32x16
|
| kagelump |
0:b669c97da2c0
|
320
|
void updateBatteryGraphic(int newPercentage, int percentage)
|
| kagelump |
0:b669c97da2c0
|
321
|
{
|
| kagelump |
0:b669c97da2c0
|
322
|
//Stores x-coordinates of shaded part of battery.
|
| kagelump |
0:b669c97da2c0
|
323
|
int barX = 86+(int)(((double)(100-percentage)/100.0)*32);
|
| kagelump |
0:b669c97da2c0
|
324
|
int newBarX = 86+(int)(((double)(100-newPercentage)/100.0)*32);
|
| kagelump |
0:b669c97da2c0
|
325
|
|
| kagelump |
0:b669c97da2c0
|
326
|
//Draws increase in percentage.
|
| kagelump |
0:b669c97da2c0
|
327
|
if (newBarX < barX)
|
| kagelump |
0:b669c97da2c0
|
328
|
{
|
| kagelump |
0:b669c97da2c0
|
329
|
display.FullRectangle(newBarX, 4+4, barX, 4+24-4, BLACK);
|
| kagelump |
0:b669c97da2c0
|
330
|
}
|
| kagelump |
0:b669c97da2c0
|
331
|
//Draws decrease.
|
| kagelump |
0:b669c97da2c0
|
332
|
else
|
| kagelump |
0:b669c97da2c0
|
333
|
{
|
| kagelump |
0:b669c97da2c0
|
334
|
display.FullRectangle(86, 4+4, newBarX, 4+24-4, WHITE);
|
| kagelump |
0:b669c97da2c0
|
335
|
}
|
| kagelump |
0:b669c97da2c0
|
336
|
}
|
| kagelump |
0:b669c97da2c0
|
337
|
|
| kagelump |
0:b669c97da2c0
|
338
|
//***This method has NOT BEEN TESTED.
|
| kagelump |
0:b669c97da2c0
|
339
|
|
| kagelump |
0:b669c97da2c0
|
340
|
//Gets information about speed, voltage, current, and battery life through CAN.
|
| kagelump |
0:b669c97da2c0
|
341
|
void readFromCAN()
|
| kagelump |
0:b669c97da2c0
|
342
|
{
|
| kagelump |
0:b669c97da2c0
|
343
|
const int speedID = 0x403;
|
| kagelump |
0:b669c97da2c0
|
344
|
const int voltageAmperageID = 0x523;
|
| kagelump |
0:b669c97da2c0
|
345
|
|
| kagelump |
0:b669c97da2c0
|
346
|
//Gets message from CAN.
|
| kagelump |
0:b669c97da2c0
|
347
|
CANMessage msg;
|
| kagelump |
0:b669c97da2c0
|
348
|
can.read(msg);
|
| kagelump |
0:b669c97da2c0
|
349
|
int id = msg.id;
|
| kagelump |
0:b669c97da2c0
|
350
|
|
| kagelump |
0:b669c97da2c0
|
351
|
switch (id)
|
| kagelump |
0:b669c97da2c0
|
352
|
{
|
| kagelump |
0:b669c97da2c0
|
353
|
case voltageAmperageID: //contains four messages: voltage 1 and 2 in volts, current 1 and 2 in mA. each is an int (2 bytes)
|
| kagelump |
0:b669c97da2c0
|
354
|
|
| kagelump |
0:b669c97da2c0
|
355
|
//Read & store amperage value.
|
| kagelump |
0:b669c97da2c0
|
356
|
intchar amp_data;
|
| kagelump |
0:b669c97da2c0
|
357
|
for (int i = 0; i < 2; i++){
|
| kagelump |
0:b669c97da2c0
|
358
|
amp_data.s[i] = msg.data[i];
|
| kagelump |
0:b669c97da2c0
|
359
|
}
|
| kagelump |
0:b669c97da2c0
|
360
|
amperage = amp_data.i[0]; //***is this correct?
|
| kagelump |
0:b669c97da2c0
|
361
|
|
| kagelump |
0:b669c97da2c0
|
362
|
//Read & store voltage/battery life value.
|
| kagelump |
0:b669c97da2c0
|
363
|
floatchar volt_data;
|
| kagelump |
0:b669c97da2c0
|
364
|
for (int i = 0; i < 2; i++){
|
| kagelump |
0:b669c97da2c0
|
365
|
volt_data.s[i] = msg.data[i+4];
|
| kagelump |
0:b669c97da2c0
|
366
|
}
|
| kagelump |
0:b669c97da2c0
|
367
|
voltage = volt_data.f[0]; //***should this be reading voltage 1 or voltage 2? (volt1.f[0 or 1])
|
| kagelump |
0:b669c97da2c0
|
368
|
break;
|
| kagelump |
0:b669c97da2c0
|
369
|
|
| kagelump |
0:b669c97da2c0
|
370
|
case speedID:
|
| kagelump |
0:b669c97da2c0
|
371
|
//** This packet actually contains motor velocity in rpm as well as vehicle velociy in m/s. How do I get only the second part?
|
| kagelump |
0:b669c97da2c0
|
372
|
floatchar speed_data;
|
| kagelump |
0:b669c97da2c0
|
373
|
for (int i = 0; i < 4; i++) {
|
| kagelump |
0:b669c97da2c0
|
374
|
speed_data.s[i] = msg.data[i];
|
| kagelump |
0:b669c97da2c0
|
375
|
}
|
| kagelump |
0:b669c97da2c0
|
376
|
//Conversion factor: 1 m/s = 2.23693629 mph
|
| kagelump |
0:b669c97da2c0
|
377
|
speed = (speed_data.f[2])*2.23693629; //** should this be a combination of f[2] and f[3]?
|
| kagelump |
0:b669c97da2c0
|
378
|
break;
|
| kagelump |
0:b669c97da2c0
|
379
|
default: break;
|
| kagelump |
0:b669c97da2c0
|
380
|
}
|
| kagelump |
0:b669c97da2c0
|
381
|
} |
Ryan Tseng