Diff: commandt.cpp

Revision:

0:f3108add3d98

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/commandt.cpp	Tue Apr 12 06:52:10 2016 +0000
@@ -0,0 +1,146 @@
+/*
+ * commandt.cpp
+ *
+ *  Created on: 2016. 2. 19.
+ *      Author: sbh9428
+ */
+
+#include "commandt.h"
+
+command_t::command_t() {
+	// TODO Auto-generated constructor stub
+
+}
+
+command_t::command_t(BufferedSerial* _pc, control_t* _control)
+{
+	time=0;
+	count=0;
+	control=_control;
+	pc=_pc;	
+}
+
+command_t::~command_t() {
+	// TODO Auto-generated destructor stub
+}
+
+void command_t::clear_data()
+{
+	for(int i=0;i<10;i++)
+	{
+		data[i]=0;	
+	}	
+}
+void command_t::parse()
+{
+	switch(data[0])
+	{
+		case 's':
+			switch(data[1])
+			{
+				case 'm':
+					control->setMode(data[2]-'0');
+					printf("set mode %d\n", data[2]-'0');
+				break;
+				case 'p':
+					control->setP(asci_to_bin(data+2));
+					printf("set P %f1.5\n", asci_to_bin(data+2));
+				break;
+				case 'i':
+					control->setI(asci_to_bin(data+2));
+					printf("set I %f\n", asci_to_bin(data+2));
+				break;	
+				case 'd':
+					control->setD(asci_to_bin(data+2));
+					printf("set D %f\n", asci_to_bin(data+2));
+				break;	
+				case 'o':
+					control->setPower(asci_to_bin(data+2));
+					printf("set I value %f\n", asci_to_bin(data+2));
+				break;	
+				case 'a':
+					control->setRatio(asci_to_bin(data+2));
+					printf("set Ratio %f\n", asci_to_bin(data+2));
+				break;	
+			}
+		break;
+		case 'g':
+			switch(data[1])
+			{
+				case 'm':
+					printf("mode is %d\n", control->getMode());
+				break;
+				case 'p':
+					printf("P is %f\n", control->getP());
+				break;
+				case 'i':
+					printf("I is %f\n", control->getI());
+				break;
+				case 'd':	
+					printf("D is %f\n", control->getD());
+				break;
+				case 'o':
+					printf("power is %f\n", control->getPower());
+				break;
+				case 'a':
+					printf("ratio is %f\n", control->getRatio());
+				break;
+			}
+		
+		break;	
+		dafault:
+		pc->printf("command error");
+	}
+	pc->printf("\n");
+	count=0;
+}
+
+void command_t::get_data()
+{
+    data [count]=pc->getc();
+
+    if(data [count]=='f')
+	parse();
+	else
+    count++;
+
+    if(count>9)
+    {
+        count=0;
+         pc->printf("command error\n");
+     }
+}
+
+double command_t::asci_to_bin(int *start)
+{
+	double _data=0;
+	int current=0;
+
+	double nth=1; //�ڸ���
+	int mode=0;
+	int sign=1;
+	
+	if(*start=='-')
+	{
+		current++;	
+		sign=-1;
+	}
+	while(*(start+current)!='f'&&*(start+current)!='.')
+	{
+		_data*=10;
+		_data+=*(start+current)-'0';
+
+		current++;
+	}
+	if(*(start+current)=='.')
+	{
+		current++;
+		while(*(start+current)!='f')
+		{
+			nth/=10;
+			_data+=nth*(*(start+current)-'0');
+			current++;
+		}	
+	}
+	return sign*_data;
+}