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under const
Diff: new_serial.cpp
- Revision:
- 5:7f031c7e4694
- Parent:
- 4:066d90d485d3
--- a/new_serial.cpp Thu Aug 27 05:18:24 2020 +0000 +++ b/new_serial.cpp Thu Aug 27 14:04:49 2020 +0000 @@ -17,8 +17,6 @@ PwmOut servo4(p25);//θ4に対応するピン PwmOut servo5(p26);//θ5に対応するピン -char rbuf[4 + 1]; -const int size_of_float = 4; //name.baud(9600); //MG996Rのほう @@ -148,41 +146,14 @@ send_servo(); } -void float2byte(unsigned char ret[], float f) -{ - // - // reference : https://stackoverflow.com/questions/14018894/how-to-convert-float-to-byte-array-of-length-4-array-of-char - - unsigned char const* p = reinterpret_cast<unsigned char const*>(&f); - - memcpy(ret, p, size_of_float); - - //for (std::size_t i = 0; i != size_of_float; ++i) - //{ - // std::printf("The byte #%zu is 0x%02X\n", i, ret[i]); - //} -} -void byte2float(float *f, char ret[]) -{ - // - // reference : https://stackoverflow.com/questions/14018894/how-to-convert-float-to-byte-array-of-length-4-array-of-char - - char fbuf[4]; - memcpy(fbuf, ret, 4); - - float const* p = reinterpret_cast<float const*>(ret); - memcpy(f, p, size_of_float); - - //std::printf("The value is %3.3lf\n", *f); -} int main() { - float output[500][6]; float w = 60.0;//========制御周波数=========== float PWMperiod = 1.0 / w; //PWM周期の計算 //===============ボーレート============= pc.baud(921600); pc.format(8, Serial::None, 1); + //各サーボの設定 servo0.period(PWMperiod); servo1.period(PWMperiod); @@ -191,99 +162,42 @@ servo4.period(PWMperiod); servo5.period(PWMperiod); - ///受け取り準備開始 - //pc.printf("serial starts\n"); - - //シリアル通信をスタートする - //受け取り配列numの初期化 num_ini(); - float fret; - char c; - + char rbuf[4]; + while(1) { - int counter = 0; - while (counter < NUM_OF_LOG_LINES) { - - led1 = 1; - if(pc.readable()) { - c = pc.getc(); - if (c != '1') - continue; - c = pc.getc(); - if (c != '2') - continue; - c = pc.getc(); - if (c != '3') - continue; - - for(int i=0; i<6; i++) { - led1 = 0; - for(int b=0; b<4; b++) - rbuf[b] = pc.getc(); - - led1 = 1; - byte2float(&fret, rbuf); - - // ( 4 bytes -> one float ) - output[counter][i] = fret; - } - - led2 = 1; - //c = pc.getc(); - //if (c != NULL) continue; - - output[counter][5] = 3.14159; - led3 = 1; - counter++; - } - - //for (int i = 0; i < 30; i++) -// { -// ch=pc.getc();//一文字ずつ受け取る -// num[i] = ctoi(ch);//数字を数値に変換 -// } -// - //動かす関数 -// move(); - - //csvファイル書き込みのために配列に保存 -// output[counter][0]=aOut; -// output[counter][1]=bOut; -// output[counter][2]=cOut; -// output[counter][3]=dOut; -// output[counter][4]=eOut; -// output[counter][5]=fOut; - //動かしたら初期化する -// num_ini(); - - } - - led3 = 1; - //保存用の部分,使わないならこめんとあうと - FILE* fp; - fp = fopen("/local/Output.csv", "w"); - wait(0.1); - if(fp!=NULL) { - fprintf(fp, "aOut,bOut,cOut,dOut,eOut,fOut\n"); - for(int j =0; j<NUM_OF_LOG_LINES; j++) { - fprintf(fp, "%f,%f,%f,%f,%f,%f\n", - output[j][0], - output[j][1], - output[j][2], - output[j][3], - output[j][4], - output[j][5]); - } - } - led4 = 1; - wait(0.1); - fclose(fp); led1 = 0; led2 = 0; led3 = 0; led4 = 0; - } + if(pc.readable()) { + if (pc.getc() != '*') continue; + if (pc.getc() != '+') continue; + for(int i=0; i<6; i++) { + for(int b=0; b<4; b++) + rbuf[b] = pc.getc(); + // ( 4 bytes -> one float ) + float const* f = reinterpret_cast<float const*>(rbuf); + + if(*f == 5.3f) + led1 = 1; + if(*f == 5.2f) + led2 = 1; + if(*f == -0.3f) + led3 = 1; + if(*f == 40.0f) + led4 = 1; + } + } + +// + //動かす関数 +// move(); + //動かしたら初期化する +// num_ini(); + + } } \ No newline at end of file