Diff: main.cpp

Revision:

2:d19d83df0d15

Parent:

1:f43ebe88228e

Child:

3:1bceed8a22d0

--- a/main.cpp	Fri Sep 07 15:52:16 2018 +0000
+++ b/main.cpp	Sat Sep 15 06:30:49 2018 +0000
@@ -2,23 +2,23 @@
 #include "HX711.hpp"
 #include "Dynamixel.h"
 
-HX711 hx711(p21, p22);
+HX711 hx711(p21, p22);  //data, clk
 Serial pc(USBTX, USBRX);
 Dynamixel motor(p13,p14,p15,0xFE,57600);
 Timer timeStamp;
-
+int motorspeed = 0;
 //--------------------HX711
 void calibrate(float gram){
     hx711.setScale(1.f);
     hx711.tare();
     //この辺をProcessing用に組み替える
-    printf("place the weight and put any key\n");
+    printf("place the weight and push any button\n");
     char c = pc.getc();
     
     float natural = hx711.readGram();
     float calibVal = natural / gram;
     hx711.setScale(calibVal);
-    //printf("calibrated! %f %f %d\n", calibVal, natural, hx711.read());
+    printf("calibrated! %f %f %d\n", calibVal, natural, hx711.read());
 }
 
 
@@ -64,19 +64,38 @@
         
         case 'm':   //モータ速度設定
             char val_buf[20];   //数値受信用バッファ
-            char *p;
+            char rx_data;   //シリアル受信
+            motorspeed = 0; //モータ速度を一旦初期化
+            int i=0;
+            do{
+                rx_data = pc.getc();    //数値を取得
+                val_buf[i] = rx_data;   //1文字を文字列に格納
+                i++;
+            }while(rx_data != ';'); //入力終了コマンド";"がきたら終了
+            i=0;
+            while(val_buf[i] != ';'){
+                //int型に変換
+                motorspeed *= 10;
+                motorspeed += (val_buf[i] - '0');
+                i++;
+            }
+            pc.printf("%d\n", motorspeed);
+            //WIP
             break;
         
         default:
+            pc.printf("fuck %c\n", c);
             break;
     }
 }
 
 int main() {
+    pc.attach(pc_rx, Serial::RxIrq);
     pc.baud(115200);
     //ホイールモードにするための設定
     motor.setAngleLimit(0, ADDRESS_CW_ANGLE_LIMIT);
     motor.setAngleLimit(0, ADDRESS_CCW_ANGLE_LIMIT);
+    move(0);
     
     float gram = 0;
     hx711.setScale(1.f);
@@ -85,7 +104,8 @@
     timeStamp.reset();
     
     while(1) {
-        gram = hx711.readGram(3);   //平均回数
-        pc.printf(">%f,%f\n", gram, timeStamp.read()); //(WIP)Processingに送るデータ format: >(gram),(Time)
+        gram = hx711.readGram(1);   //平均回数
+        pc.printf(">%.4f,%.2f\n", gram, timeStamp.read()); //(WIP)Processingに送るデータ format: >(gram),(Time)
+        //wait_ms(10);
     }
 }