A code for the spindling of bots.
Dependencies: MX12 ServoRingBuffer mbed-src
Fork of SpindleBot by
Old_Code.h
- Committer:
- labmrd
- Date:
- 2015-08-13
- Revision:
- 14:7c5beaa9fb01
- Parent:
- 2:dfeadd6c651c
File content as of revision 14:7c5beaa9fb01:
///// Old serial code: //// Setup: //c.attach(&keyStroke,Serial::RxIrq); // setup keyStroke ISR //// ISR: /*/ Function keyStroke: Serial ISR for keystroke void keyStroke(){ if(keyStrokeFlag){ //FREAK OUT!!!! pc.printf("keyStroke Function had unexpected error!!!!\r\n"); } keyStrokeVal = pc.getc(); // This stores the keystroke character into a variable called keyStrokeVal keyStrokeFlag = true; // This sets the keyStrokeFlag to true to show that data is ready }*/ //// Main Loop: /*/ This section of code should run only if a key stroke has been input by the user if (keyStrokeFlag == true) { switch(keyStrokeVal) { case 'm': case 'M': pc.printf("%% ************* Manual Grasp Mode **********************\r\n"); break; case 'a': case 'A': pc.printf("%% ************* Auto Grasp Mode ************************\r\n"); break; case 'r': case 'R': collect_data=!collect_data; //pc.printf("% New value=%d\n",collect_data); if(collect_data==false){ //Let's just be done with our current file, by setting our count to the max file_count=SAMPLES_PER_FILE; } pc.printf("%% ************* Toggled Data Collection ****************\r\n"); break; case '\r': case '\n': //Don't do anything break; default: pc.printf("Please press a vaild key. The key you pressed was: %c\r\n", keyStrokeVal ); } keyStrokeFlag = false; }*/ ////////// Old SD file code /* int num_objects=0; // Read the number of files in the /sd/data directory, so we can name ours to be next mkdir("/sd/data", 0777); DIR *dp; dp = opendir("/sd/data"); struct dirent *dirp; //read all directory and file names in current directory into filename vector while((dirp = readdir(dp)) != NULL) { dirp->d_name; num_objects++; } closedir(dp); num_objects++; */ //// In while loop: /*char buf[0x100]; file_num++; pc.printf( "New file: /sd/data/%04d%04d.csv\n", num_objects, file_num); fflush(pc); snprintf(buf, sizeof(buf), "/sd/data/%04d%04d.csv", num_objects, file_num); FILE *fp = fopen(buf, "w"); //FILE *fp = fopen("/sd/data/sdtest.txt", "w"); if(fp == NULL) { error("Could not open file for write\n"); } fprintf(fp, "%%Position0,Force0,Position1,Force1,Time\n"); */