Diff: Devices/CAN_Device.cpp

Revision:

11:bc9cd2869f95

Child:

15:c944ee3c8a5b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Devices/CAN_Device.cpp	Wed Oct 01 18:11:38 2014 +0000
@@ -0,0 +1,177 @@
+//#include "CAN_Device.hpp"
+//
+////Constructor
+//CAN_Device::CAN_Device(LineData lineData){
+//    
+//    //Order of Line: Command, Local_Name, CAN_DEVICE, selectedCAN(1,2), freq
+//    //Since we can't return from a constructor, instead we'll flip a flag, and check it after we've added the device in interpretCommand
+//    if (lineData.numWords != 5)
+//        this->errorFlag = 1;
+//        
+//    string channelstr = lineData.word[3], freqstr = lineData.word[4]; //Parameters are numbers
+//    int tempChannel = -1, tempFreq = -1;
+//    int numValuesFound = sscanf(channelstr.c_str(), "%d", &tempChannel);
+//    if (numValuesFound < 1)
+//        this->errorFlag = 1;
+//       
+//    numValuesFound = sscanf(freqstr.c_str(), "%d", &tempFreq);
+//    if (numValuesFound < 1)
+//        this->errorFlag = 1;
+//    
+//    //channel must be either CAN1 or CAN2
+//    if (tempChannel == 1 || tempChannel == 2){
+//                this->selectedCAN =  tempChannel;
+//    else
+//        this->errorFlag = 1;
+//         
+//    //should have a frequency greater than 0       
+//    if (tempFreq > 0)
+//        this->freq = tempFreq;
+//    else
+//        this->errorFlag = 1;
+//}
+//    
+//    
+//int CAN_Device::getSelectedCAN(){     
+//    return this->selectedCAN;
+//}
+//
+//int CAN_Device::getFreq(){     
+//    return this->freq;
+//}
+//
+////A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
+//int CAN_Device::CAN_Device(LineData &lineData){
+//
+//    //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
+//    string func = lineData.word[1];
+//        
+//    /******************************************************************************/
+//    /***                       <Func: enableBrake>                              ***/
+//    /******************************************************************************/
+//    if (func.compare("write") == 0){
+//    //line looks like: Local_Name, write, ID_val, byte 
+//        if (lineData.numWords > 5){
+//            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
+//            return -1;
+//        }
+//        
+//        //Initialize and Convert Parameters
+//        string enable = lineData.word[2];
+//        int enableValue = 0;
+//        
+//        int numValuesFound = sscanf(enable.c_str(), "%d", &enableValue);
+//        if (numValuesFound < 1){
+//            ErrorOut("Parameter Unknown, enableBrake value can't be converted", lineData.lineNumber);
+//            return -1;
+//        }
+//        
+//        //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
+//        if (DummyMode)
+//            return 0; //Function operated successfully but doesn't return a value
+//            
+//        bridges.enableBraking(getMotor(), enableValue);
+//    }
+//        
+//    /******************************************************************************/
+//    /***                       <Func: forceBrake>                               ***/
+//    /******************************************************************************/
+//    else if (func.compare("forceBrake") == 0){
+//        
+//        if (lineData.numWords != 2){
+//            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
+//            return -1;
+//        }
+//        
+//        //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
+//        if (DummyMode)
+//            return 0; //Function operated successfully but doesn't return a value
+//            
+//        bridges.forceBrake(getMotor());
+//    }
+//    
+//    
+//    /******************************************************************************/
+//    /***                           <Func: drive>                                ***/
+//    /******************************************************************************/
+//    else if (func.compare("drive") == 0){
+//        
+//        if (lineData.numWords != 4){
+//            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
+//            return -1;
+//        }
+//                
+//        //Initialize Parameters
+//        string speed = lineData.word[2];
+//        string dir = lineData.word[3];
+//        
+//        //Initialize Convertion Variables if needed
+//        float speedValue;
+//        int dirValue = 0;
+//        
+//        //Convert string to usable values
+//        int numValuesFound = sscanf(speed.c_str(), "%f", &speedValue);
+//        if (numValuesFound < 1){
+//            ErrorOut("Parameter Unknown, speed value can't be converted", lineData.lineNumber);
+//            return -1;
+//        }
+//        
+//        //Speed is given as a percentage of 100, so convert it to the value needed for the bridge.drive function
+//        speedValue = speedValue / 100;
+//        
+//        
+//        if (speedValue <= 0 && speedValue > 1.0){
+//            ErrorOut("Speed Value must be between 0 - 100", lineData.lineNumber);
+//            return -1;
+//        }
+//        
+//        if (dir.compare("CC") == 0 || dir.compare("cc") == 0)
+//            dirValue = -1; //Turn Clockwise
+//        else if (dir.compare("C") == 0 || dir.compare("c") == 0)
+//            dirValue = 1; //Turn CounterClockwise
+//            
+//        else{
+//            ErrorOut("Direction Value must be C or CC", lineData.lineNumber);
+//            return -1;
+//        }
+//        
+//        //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
+//        if (DummyMode)
+//            return 0; //Function operated successfully but doesn't return a value
+//            
+//        bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
+//    }
+//    
+//    
+//    /******************************************************************************/
+//    /****                           <Func: off>                                ****/
+//    /******************************************************************************/
+//    else if (func.compare("off") == 0){
+//        
+//        if (lineData.numWords != 2){
+//            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
+//            return -1;
+//        }
+//        
+//        //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
+//        if (DummyMode)
+//            return 0; //Function operated successfully but doesn't return a value
+//            
+//        off();
+//    }
+//    
+//    else {
+//        ErrorOut("Unknown Command for Motor Class", lineData.lineNumber);
+//        return -1;
+//    }
+//    
+//    return 0; //Return success as 0 since no condition had to be met
+//}
+//
+//
+//
+////For stopping the entire system if an error occurs, can be called from main
+//int CAN_Device::off(void){
+//    bridges.drive(getMotor(), 0, 0); //Turn off the Motor
+//    return 0;
+//}