Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

serialcom.cpp@130:2542f844ba1e, 2015-10-30 (annotated)

Committer:
annesteenbeek
Date:
Fri Oct 30 10:32:49 2015 +0100
Revision:
130:2542f844ba1e
Parent:
129:53d23eae7a6a 
changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 124:f67ce69557db 1 #include "mbed.h"
annesteenbeek 125:749b8ce2e040 2 #include "serialcom.h"
annesteenbeek 126:56866cefaa08 3 //#include "MODSERIAL.h"
annesteenbeek 124:f67ce69557db 4 #include "config.h"
annesteenbeek 124:f67ce69557db 5 #include "PID.h"
annesteenbeek 125:749b8ce2e040 6 #include "buttons.h"
annesteenbeek 124:f67ce69557db 7 #include <string>
annesteenbeek 124:f67ce69557db 8
annesteenbeek 126:56866cefaa08 9 Serial pc(USBTX, USBRX);
annesteenbeek 124:f67ce69557db 10 char buf[128];
annesteenbeek 129:53d23eae7a6a 11 int transmitDOF;
annesteenbeek 129:53d23eae7a6a 12 bool EMGCalReady = false;
annesteenbeek 129:53d23eae7a6a 13 bool enableEMG = false;
annesteenbeek 129:53d23eae7a6a 14 bool startCalibration = false;
annesteenbeek 124:f67ce69557db 15
annesteenbeek 126:56866cefaa08 16 void serialInit(){
annesteenbeek 126:56866cefaa08 17 const int baudrate = 9600;
annesteenbeek 126:56866cefaa08 18 redLed.write(1); // dim the leds
annesteenbeek 126:56866cefaa08 19 blueLed.write(1);
annesteenbeek 126:56866cefaa08 20 greenLed.write(1);
annesteenbeek 126:56866cefaa08 21
annesteenbeek 126:56866cefaa08 22 pc.baud(baudrate);
annesteenbeek 126:56866cefaa08 23 }
annesteenbeek 126:56866cefaa08 24
annesteenbeek 124:f67ce69557db 25 void serialCom(){
annesteenbeek 127:831f03471efb 26 // Receiving
annesteenbeek 124:f67ce69557db 27 pc.scanf("%s", buf);
annesteenbeek 124:f67ce69557db 28 if(strcmp(buf,"ledRed")==0){
annesteenbeek 125:749b8ce2e040 29 redLed.write(!redLed.read());
annesteenbeek 124:f67ce69557db 30 }
annesteenbeek 124:f67ce69557db 31 if(strcmp(buf,"ledBlue")==0){
annesteenbeek 125:749b8ce2e040 32 blueLed.write(!blueLed.read());
annesteenbeek 124:f67ce69557db 33 }
annesteenbeek 124:f67ce69557db 34 if(strcmp(buf,"ledGreen")==0){
annesteenbeek 125:749b8ce2e040 35 greenLed.write(!greenLed.read());
annesteenbeek 124:f67ce69557db 36 }
annesteenbeek 127:831f03471efb 37 if(strcmp(buf, "switchPump")==0){
annesteenbeek 127:831f03471efb 38 enablePump = !enablePump;
annesteenbeek 127:831f03471efb 39 }
annesteenbeek 127:831f03471efb 40 if(strcmp(buf, "startCalibration")==0){
annesteenbeek 127:831f03471efb 41 startCalibration = true;
annesteenbeek 127:831f03471efb 42 }
annesteenbeek 127:831f03471efb 43 if(strcmp(buf, "enableEMG")==0){
annesteenbeek 127:831f03471efb 44 enableEMG = true;
annesteenbeek 129:53d23eae7a6a 45 usePotmeters = false;
annesteenbeek 127:831f03471efb 46 }
annesteenbeek 127:831f03471efb 47 if(strcmp(buf, "usePotmeters")==0){
annesteenbeek 127:831f03471efb 48 usePotmeters = true;
annesteenbeek 129:53d23eae7a6a 49 enableEMG = false;
annesteenbeek 127:831f03471efb 50 }
annesteenbeek 127:831f03471efb 51 if(strcmp(buf, "controlAngle")==0){
annesteenbeek 127:831f03471efb 52 controlAngle = true;
annesteenbeek 129:53d23eae7a6a 53 controlDirection = false;
annesteenbeek 127:831f03471efb 54 }
annesteenbeek 127:831f03471efb 55 if(strcmp(buf, "controlDirection")==0){
annesteenbeek 127:831f03471efb 56 controlDirection = true;
annesteenbeek 129:53d23eae7a6a 57 controlAngle = false;
annesteenbeek 127:831f03471efb 58 }
annesteenbeek 128:c583aff5a7bf 59
annesteenbeek 128:c583aff5a7bf 60 // Writers
annesteenbeek 128:c583aff5a7bf 61 pc.printf("enablePump %d\n", enablePump);
annesteenbeek 128:c583aff5a7bf 62 pc.printf("startCalibration %d\n", startCalibration);
annesteenbeek 128:c583aff5a7bf 63 pc.printf("enableEMG %d\n", enableEMG);
annesteenbeek 128:c583aff5a7bf 64 pc.printf("usePotmeters %d\n", usePotmeters);
annesteenbeek 128:c583aff5a7bf 65 pc.printf("controlAngle %d\n", controlAngle);
annesteenbeek 128:c583aff5a7bf 66 pc.printf("controlDirection %d\n", controlDirection);
annesteenbeek 128:c583aff5a7bf 67 pc.printf("calReady %d\n", calReady);
annesteenbeek 128:c583aff5a7bf 68 pc.printf("motorsEnable %d\n", motorsEnable);
annesteenbeek 128:c583aff5a7bf 69 pc.printf("EMGCalReady %d\n", EMGCalReady);
annesteenbeek 130:2542f844ba1e 70 pc.printf("Xpos %.3lf\n", Xpos);
annesteenbeek 130:2542f844ba1e 71 pc.printf("Ypos %.3lf\n", Ypos);
annesteenbeek 130:2542f844ba1e 72 pc.printf("motor1Pos %.3lf\n", motor1Pos);
annesteenbeek 130:2542f844ba1e 73 pc.printf("motor2Pos %.3lf\n", motor2Pos);
annesteenbeek 128:c583aff5a7bf 74
annesteenbeek 128:c583aff5a7bf 75 // transmit correct DOF controller
annesteenbeek 129:53d23eae7a6a 76 if(usePotmeters){
annesteenbeek 128:c583aff5a7bf 77 transmitDOF = actuatorState; // DOF controlled by buttons
annesteenbeek 128:c583aff5a7bf 78 }if(enableEMG){
annesteenbeek 128:c583aff5a7bf 79 transmitDOF = DOF; // DOF controlled by EMG
annesteenbeek 128:c583aff5a7bf 80 }
annesteenbeek 128:c583aff5a7bf 81 pc.printf("DOF %i\n", transmitDOF); // DOF: 1=x 2=y 3=z
annesteenbeek 124:f67ce69557db 82 }
annesteenbeek 124:f67ce69557db 83