root / branches / encoders / code / behaviors / spline / server / server.c @ 1241
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#include <termios.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include "encoders.h" |
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#include <math.h> |
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|
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#define LS 0 |
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#define LD 1 |
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#define RS 2 |
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#define RD 3 |
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#define FORWARD 1 |
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#define BACKWARD 0 |
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#define SENDER 1 |
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#define RECEIVER 0 |
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#define INFINITE -1 |
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#define L 10.0 |
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double position[3] = {0,0,0}; |
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|
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void updatePosition(int vl, int vr, double dt); |
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|
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void setAttrib(int file) |
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{ |
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struct termios attributes;
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tcgetattr(file, &attributes); |
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|
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cfsetispeed(&attributes, B115200); |
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cfsetospeed(&attributes, B115200); |
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attributes.c_cflag &= ~PARENB; |
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attributes.c_cflag &= ~CSTOPB; |
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attributes.c_cflag &= ~CSIZE; |
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attributes.c_cflag |= CS8; |
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|
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attributes.c_cflag &= ~ICRNL; |
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attributes.c_cflag &= ~OCRNL; |
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attributes.c_cflag |= (CLOCAL | CREAD); |
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attributes.c_lflag &= ~ICANON; |
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if (tcsetattr(file, TCSANOW, &attributes) < 0){ |
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perror("tcsetattr failed");
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exit(-1);
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} |
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} |
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|
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int main()
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{ |
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int serialFileIn = open("/dev/ttyUSB0", O_RDWR); |
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int serialFileOut = open("/dev/ttyUSB1", O_RDWR); |
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if(serialFileIn < 1 || serialFileOut < 1) |
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{ |
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printf("Error opening serial\n");
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return -1; |
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} |
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setAttrib(serialFileOut); |
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setAttrib(serialFileIn); |
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unsigned char encoders[4] = {1,1,1,1}; |
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char senderNum = SENDER;
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char receiverNum = RECEIVER;
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write(serialFileIn, &receiverNum, 1);
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sleep(1);
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write(serialFileOut, &senderNum, 1);
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//Sending velocity as LS LD RS RD
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int tempCount = 190; |
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int dx, left_v;
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while(1) |
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{ |
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printf("SENDING DATA\n");
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encoders[LS] = tempCount; |
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encoders[LD] = 1;
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encoders[RS] = tempCount; |
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encoders[RD] = 0;
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//tempCount += 50;
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int temp = 0; |
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int count = 0; |
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do
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{ |
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// tcflush(serialFile, TCIOFLUSH);
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temp = write(serialFileOut, encoders + count, 1);
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if(temp < 0) |
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perror("Write Error");
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count += temp; |
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printf("sent: %d\n", count);
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usleep(200);
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}while(count < 4); |
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count = 0;
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printf("READING DATA\n");
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do
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{ |
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count += read(serialFileIn, encoders, 4);
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}while(count < 4); |
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short leftEncoder = (encoders[0] << 8) | encoders[1]; |
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short rightEncoder = (encoders[2] << 8) | encoders[3]; |
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printf("%d %d\n", leftEncoder, rightEncoder);
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updatePosition(leftEncoder, rightEncoder, .1);
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printf("Location is x: %g \t y: %g \t o: %g\n", position[0], position[1], position[2]); |
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} |
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} |
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void updatePosition(int vl, int vr, double dt) |
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{ |
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double wdt = (vr - vl)*dt/L;
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double R;
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if(vr - vl > 0) |
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R = (L/2)*(vr + vl)/(vr - vl);
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if(wdt != 0) |
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{ |
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double ICC[2] = {position[0] - R * sin(position[2]), position[1] + R*cos(position[2])}; |
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position[0] = cos(wdt)*(position[0]-ICC[0]) - sin(wdt)*(position[1]-ICC[1]) + ICC[0]; |
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position[1] = sin(wdt)*(position[0]-ICC[0]) + cos(wdt)*(position[1]-ICC[1]) + ICC[1]; |
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position[2] = position[2] + wdt; |
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} |
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else
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{ |
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position[0] += cos(position[2])*vr; |
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position[1] += sin(position[2])*vr; |
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} |
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} |