Diff: HandShake/HandShake.cpp

Revision:

11:7f74fb17c328

Parent:

10:d7cce35b7bfd

--- a/HandShake/HandShake.cpp	Fri Jan 29 17:38:18 2016 +0000
+++ b/HandShake/HandShake.cpp	Mon Feb 01 15:48:29 2016 +0000
@@ -10,30 +10,25 @@
 #include "mbed.h"
 #include "MCP23017.h"
 #include "WattBob_TextLCD.h"
-
 #include "AX12.h"
-
-
-        
-    MCP23017 *par_port1;
-    WattBob_TextLCD *lcd1;
+    
+    MCP23017 *par_port;
+    WattBob_TextLCD *lcd;
+    Serial ax12_bus(p28, p27);
+    AX12 my_AX12(ax12_bus, p29, 1);
 
 //*********************************************************************
 // Object: PC_HandShake
 // Description: To create a HandShake object. 
 //*********************************************************************
 
-PC_HandShake::PC_HandShake(Serial& PCbus, AX12& ax12) 
-    : _PCbus(PCbus), _ax12 (ax12){
+PC_HandShake::PC_HandShake(Serial& PCbus) 
+    : _PCbus(PCbus){
         
-//*********************************************************************
-// Description:Setting up the LCD display and turning on LCD display
-// Pins: p8, p10
-//*********************************************************************
-    par_port1 = new MCP23017(p9, p10, 0x40);
-    par_port1->config(0x0F00, 0x0F00, 0x0F00);
-    lcd1 = new WattBob_TextLCD(par_port1);
-    par_port1->write_bit(1,BL_BIT);
+        par_port = new MCP23017(p9, p10, 0x40);
+        par_port->config(0x0F00, 0x0F00, 0x0F00);
+        lcd = new WattBob_TextLCD(par_port);
+        par_port->write_bit(1, BL_BIT);
 }
 
 //*********************************************************************
@@ -42,77 +37,84 @@
 //*********************************************************************
 
 void PC_HandShake::PC_Connect(void){
-    lcd1->cls();
-    lcd1->printf("Connecting");
-    lcd1->locate(1,0);
-    lcd1->printf("to PC");
-    wait(2);
-    lcd1->cls();
-    lcd1->printf("Waiting\n");
+    lcd->cls();
+    lcd->printf("Connecting");
+    lcd->locate(1,0);
+    lcd->printf("to PC");
     while('s' != _PCbus.getc()){
         }
     while('s' != _PCbus.getc()){
         }
-    lcd1->cls();
-    lcd1->printf("Conneced\n");
+    lcd->cls();
+    lcd->printf("Conneced\n");
     wait(2);
 }
 
 void PC_HandShake::PC_Read(void){
-    lcd1->cls();
-    lcd1->printf("Reading");
-    lcd1->locate(1,0);
-    lcd1->printf("to PC");
-    wait(2);
-    lcd1->cls();
-    lcd1->printf("Waiting\n");
+    
     char Command[8];
-    int x;
+    
+    lcd->cls();
+    lcd->printf("Reading PC");
     
     while(_PCbus.readable()==0){}
-    for(x=0;x<=8;x++)
+    Command[0] = _PCbus.getc();
+    if(Command[0]=='s')
     {
+        while(_PCbus.readable()==0){}
+        Command[1] = _PCbus.getc();
+        if(Command[1]=='c')
+        {
+    for(int x=2;x<=7;x++)
+    {
+        while(_PCbus.readable()==0){}
         Command[x] = _PCbus.getc();
     }
     
-    if(Command[0]=='s')
-    {
-        if (Command[1]=='c')
-            if(Command[2]=='1')
-                _ax12.SetGoal(100);
-           
-            else if (Command[2]=='0')    
-                _ax12.SetGoal(0);
-                
-            else return;
+    lcd->cls();
+    lcd->printf("%s", Command);
+    wait(1);
+        switch(Command[2]){
+                case '0':
+                    char angle[3];
+                    angle[0] = Command[4];
+                    angle[1] = Command[5];
+                    angle[2] = Command[6];
+                    int angle2 = atoi(angle);
+                    lcd->cls();
+                    lcd->printf("%i", angle2);
+                    my_AX12.SetGoal(angle2);
+                    break;
+                default:
+                    break;
+                }
+        }
+        wait(1);
+    }
+}
 
-    }
+void PC_HandShake::PC_WriteLoad(char _servo){
     
-    //while('s' != _PCbus.getc()){
-//        }
-//    while(_PCbus.readable()==0){}
-//    char _byteOne=_PCbus.getc();
-//    
-//    while(_PCbus.readable()==0){}
-//    char _byteTwo=_PCbus.getc();
-//    
-//    if (_byteOne=='s'){
-//        }
-//    else if (_byteOne=='c')
-//    {
-//        switch(_byteTwo)
-//        {
-//                case '0':
-//                    _ax12.SetGoal(100);
-//                    break;
-//                case '1':
-//                    _ax12.SetGoal(0);
-//                    break; 
-//        }
-//    }
-                
-                
-    lcd1->cls();
-    lcd1->printf("Reading\n");
-    wait(2);
+    char _data[3];
+    char _returnToPC[8];
+    
+    lcd->cls();
+    lcd->printf("Writing to PC");
+    
+    my_AX12.GetLoad(_data);
+    
+    //lcd->cls();
+//    lcd->printf("%s", _data);
+    
+    _returnToPC[0] = 'S';
+    _returnToPC[1] = 'D';
+    _returnToPC[2] = '0';
+    _returnToPC[3] = _servo;
+    _returnToPC[4] = _data[0];
+    _returnToPC[5] = _data[1];
+    _returnToPC[6] = _data[2];
+    _returnToPC[7] = '0';
+    
+    _PCbus.printf(_returnToPC);
+    wait(1);
 }
\ No newline at end of file