Revision 2:22b200c374cd, committed 2015-09-29

Comitter:

higedura

Date:

Tue Sep 29 02:00:59 2015 +0000

Parent:

1:52d3136e1a22

Commit message:

150929_URG

Changed in this revision

--- a/main.cpp	Wed Dec 05 13:56:13 2012 +0000
+++ b/main.cpp	Tue Sep 29 02:00:59 2015 +0000
@@ -11,12 +11,15 @@
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
 Serial pc(USBTX, USBRX);                    // tx, rx
-SDFileSystem sd(p5, p6, p7, p8, "sd");      // the pinout on the mbed Cool Components workshop board
+//SDFileSystem sd(p5, p6, p7, p8, "sd");      // the pinout on the mbed Cool Components workshop board
 Serial navi(p13, p14);                       // tx, rx
-DigitalIn stop(p17);                        // button (green)
+DigitalIn stop(p12);                        // button (green)
 Serial urg(p28, p27);                       // tx, rx
 //TextLCD lcd(p24, p26, p27, p28, p29, p30);  // rs, e, d4-d7
 
+// Local file system
+//LocalFileSystem local("local"); 
+
 void send_to_navi();
 
 int iaf_delta               =   500;
@@ -56,7 +59,7 @@
     
     double i_pow    =   0;
     
-    pc.baud(921600);
+    pc.baud(115200);
     navi.baud(115200);
     urg.baud(19200);
     
@@ -65,27 +68,24 @@
         pow2[i] = pow(2,i_pow);
     };
     
+    //FILE *fp = fopen("/local/out.txt", "w");  // Open "out.txt" on the local file system for writing
+    
     // Waiting start up URG
     //lcd.cls();
     //lcd.printf("Waiting start up URG");
     pc.printf("\n\r\n\rWaiting start up URG\n\r");
-    led1    =   1;  led2    =   1;  led3    =   1;  led4    =   1;
-    wait(.5);    led4    =   0;
-    wait(.5);    led3    =   0;
-    wait(.5);    led2    =   0;
-    wait(.5);    led1    =   0;    
+    led1    =   1;
+    wait(2);
     
     // SCIP 1.0 --> SCIP 2.0
     //lcd.cls();
     //lcd.printf("SCIP 2.0");
     pc.printf("SCIP 2.0\n\r");
     for( int i=0;i<8;i++ ){   urg.putc(SCIP2[i]);  }
+    //for( int i=0;i<8;i++ ){   pc.putc(SCIP2[i]);  }
     // Waiting SCIP 2.0
-    led1    =   1;  led2    =   1;  led3    =   1;  led4    =   1;
-    wait(.5);    led4    =   0;
-    wait(.5);    led3    =   0;
-    wait(.5);    led2    =   0;
-    wait(.5);    led1    =   0;
+    led2    =   1;
+    wait(2);
     
     // Changing baudrate
     //lcd.cls();
@@ -93,14 +93,10 @@
     pc.printf("Changing baudrate\n\r");
     for( int i=0;i<9;i++ ){   urg.putc(SS1152[i]);  }
     urg.baud(115200);
-    led1    =   1;  led2    =   1;  led3    =   1;  led4    =   1;
-    wait(.5);    led4    =   0;
-    wait(.5);    led3    =   0;
-    wait(.5);    led2    =   0;
-    wait(.5);    led1    =   0;
+    led3    =   1;
+    wait(2);
     
     // Getting data
-    led1    =   1;  led4    =   1;
     //lcd.cls();
     //lcd.printf("Getting data ...");
     pc.printf("Getting data ...\n\r\n\r");
@@ -114,9 +110,21 @@
         if( c_urg_data[0]==aLF && c_urg_data[1]==aLF ){   flag = 1;   }
         for( int i=0;i<2;i++ ){     c_urg_data[i+1] = c_urg_data[i];    }
     }
+    
+    // For test
     /*
+    char buf_char;
+    while(1){
+        buf_char    =   urg.getc();
+        pc.printf("%c", buf_char);
+    }
+    */
+    
+    led4    =   1;
+    
     //while(1){
     while( stop==0 ){
+    //for(int iLoop=0;iLoop<3;iLoop++){
         
         c_urg_data[2] =   c_urg_data[1];
         c_urg_data[1] =   c_urg_data[0];
@@ -166,7 +174,12 @@
             if( iaf_delta>800 ){    iaf_delta = 800;    }
             if( iaf_delta<200 ){    iaf_delta = 200;    }
             
-
+            //for(int i=0;i<682;i++){    fprintf(fp, "%5d ", urg_depth[i]); }
+            //fprintf(fp, "\n\r");
+            for(int i=0;i<682;i++){    pc.printf("%5d ", urg_depth[i]); }
+            pc.printf("\n\r");
+            wait(3);
+            
             // Initialization
             for( int i=0;i<682;i++ ){   urg_depth[i] = 0;   }
             iaf_SR_print    =   iaf_SR;
@@ -177,5 +190,11 @@
         }
         
     }
-    */
+    
+    //fclose(fp);
+    led1    =   0;
+    led2    =   0;
+    led3    =   0;
+    led4    =   0;
+    
 }