main.cpp

00001 #include "mbed.h"
00002 #include "laserProjectorHardware.h"
00003 
00004 DigitalOut myled(LED1);
00005 
00006 void processSerial();
00007 
00008 unsigned int X, Y; // position of the mirror (note: in fact it is an ANGLE)
00009 bool newPositionReady=false;
00010 
00011 unsigned int counter=0;
00012 
00013 int main() {
00014 
00015     // SETUP: --------------------------------------------------------------------------------------------
00016     IO.init(); // note: serial speed can be changed by checking in the hardwareIO.cpp initialization
00017   
00018     // Set displaying laser powers: 
00019     IO.setRedPower(0);
00020     IO.setGreenPower(0);//turn on the green (displaying) laser
00021 
00022     wait_ms(100);
00023 
00024     Y = CENTER_AD_MIRROR_Y;
00025     IO.writeOutY(Y);
00026     
00027     // MAIN LOOP: --------------------------------------------------------------------------------------------
00028     while(1) {
00029         processSerial();
00030         if (newPositionReady) {
00031             IO.writeOutY(Y);
00032             newPositionReady=false;
00033         }
00034         
00035        Y=int(0.5*4095.0*(1.0+cos(1.0*counter/100000)));
00036        IO.writeOutY(Y);
00037        counter++;
00038         
00039     }
00040 }
00041 
00042 // --------------------------------------------------------------------------------------------
00043 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly: 
00044 char stringData[24]; // note: an integer is two bytes long, represented with a maximum of 5 digits, but we may send floats or unsigned int...
00045 int indexStringData=0;//position of the byte in the string
00046 
00047 void processSerial() {
00048 
00049  while(pc.readable()>0){
00050       
00051     char val =pc.getc();
00052   
00053   // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
00054     if ((val >= '0') && (val <= '9')){ // this is 45 to 57 (included)
00055       stringData[indexStringData] = val;
00056       indexStringData++;
00057     }
00058 
00059   // X value?
00060   else if (val=='X') {
00061     stringData[indexStringData] = 0 ;
00062     X=atoi(stringData);
00063     indexStringData=0;
00064     //newPositionReady=true;
00065   }
00066     // Y value?
00067     else if (val=='Y') {
00068     stringData[indexStringData] = 0 ;
00069     Y=atoi(stringData);
00070     indexStringData=0;
00071     newPositionReady=true;
00072   }
00073  
00074  }
00075 }