![](/media/cache/profiles/e5815151957be36ad2085b7a1a02c5cc.jpg.50x50_q85.jpg)
Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Console.cpp
- Committer:
- syundo0730
- Date:
- 2013-11-22
- Revision:
- 23:0927e605af4b
- Parent:
- 22:bf5aa20b9df0
File content as of revision 23:0927e605af4b:
#include <sstream> #include "Console.h" Console::Console(PinName tx, PinName rx) { serial = new Serial(tx, rx); } Console::~Console() { delete serial; } uint8_t Console::getheader() { uint8_t comm = getc_nowait(); if (comm != 0) { serial->printf("Mode:%c \r\n", comm); } return comm; } int Console::getid() { int id; stringstream sstr; serial->printf("Enter the ID: \r\n"); sstr << getc_wait(); sstr >> id; serial->printf("Servo ID:%d \r\n", id); return id; } uint16_t Console::get_int_cr() { stringstream sstr; serial->printf("Enter the Servo value. And push Enter.: \r\n"); while (1) { uint8_t tmp = getc_wait(); serial->printf("%c", tmp); if (tmp == '\r') { serial->printf("\r\n"); break; } sstr << tmp; } uint16_t val; sstr >> val; serial->printf("Servo value:%d \r\n", val); return val; } float Console::get_float_cr() { stringstream sstr; serial->printf("Enter the float parameter. And push Enter.: \r\n"); while (1) { uint8_t tmp = getc_wait(); serial->printf("%c", tmp); if (tmp == '\r') { serial->printf("\r\n"); break; } sstr << tmp; } float val; sstr >> val; serial->printf("parameter:%f \r\n", val); return val; } uint8_t Console::getc_wait() { while (!serial->readable()); uint8_t val = serial->getc(); return val; } uint8_t Console::getc_nowait() { uint8_t buf = 0; if (serial->readable()) { buf = serial->getc(); } return buf; } void Console::printf(char* str) { serial->printf(str); } void Console::showOnline(OnlineMotion* on) { serial->printf("T:%f\r\n", on->T); serial->printf("h:%f\r\n", on->h); serial->printf("side:%f\r\n", on->side); serial->printf("stride:%f\r\n", on->stride); serial->printf("up:%f\r\n", on->up); } /*uint16_t Console::readint() { uint8_t buff[2]; buff[0] = getc_wait(); buff[1] = getc_wait(); uint16_t val; val = (uint16_t)(buff[1] << 8) | (uint16_t)buff[0]; return val; }*/ /*void sendint(uint16_t val) { uint8_t buff[16]; buff[0] = (uint8_t)(val & 0x00FF); buff[1] = (uint8_t)(val >> 8); pc.putc(buff[0]); pc.putc(buff[1]); }*/