Revision 1216
spline server and master
| branches/encoders/code/behaviors/spline/server/server.c | ||
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#include <sys/stat.h> |
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#include <fcntl.h> |
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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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int main() |
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{
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int serialFile = open("/dev/ttyUSB0", O_RDONLY);
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int serialFile = open("/dev/ttyUSB0", O_RDWR);
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if(serialFile < 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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struct termios attributes; |
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tcgetattr(serialFile, &attributes); |
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struct termios attributes; |
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tcgetattr(serialFile, &attributes); |
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cfsetispeed(&attributes, 115200); |
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cfsetospeed(&attributes, 115200); |
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tcsetattr(serialFile, TCSANOW, &attributes); |
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int encoders[2]; |
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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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// 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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// attributes.c_cc[VMIN] = 1; |
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// attributes.c_cc[VTIME] = 50; |
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if (tcsetattr(serialFile, TCSANOW, &attributes) < 0){
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perror("tcsetattr failed");
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exit(-1); |
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} |
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unsigned char encoders[4] = {1,1,1,1};
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/// while(1) |
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// write(serialFile, encoders, 1); |
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//Sending velocity as LS LD RS RD |
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while(1) |
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{
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read(serialFile, encoders, sizeof(encoders)); |
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printf("%d %d\n", encoders[0], encoders[1]);
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printf("SENDING DATA\n");
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encoders[LS] = 170; |
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encoders[LD] = 1; |
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encoders[RS] = 170; |
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encoders[RD] = 1; |
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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(serialFile, 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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// tcflush(serialFile, TCIOFLUSH); |
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usleep(10000); |
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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(serialFile, encoders, 4); |
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}while(count < 4); |
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int leftEncoder = (encoders[0] << 8) | encoders[1]; |
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int rightEncoder = (encoders[2] << 8) | encoders[3]; |
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printf("%d %d\n", leftEncoder, rightEncoder);
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} |
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} |
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| branches/encoders/code/behaviors/spline/server/Makefile | ||
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| 1 |
all: server.c |
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gcc server.c -o server |
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clean: |
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rm server |
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| branches/encoders/code/behaviors/spline/master/master.c | ||
|---|---|---|
| 1 | 1 |
#include <dragonfly_lib.h> |
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#include <wireless.h> |
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#include <termios.h> |
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//#include <termios.h>
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#include <stdio.h> |
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#include <unistd.h> |
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//#include <unistd.h>
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#define GROUP 1 |
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#define TYPE 0 |
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unsigned char data[4]; |
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void packet_receive (char type, int source, unsigned char* packet, int length); |
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PacketGroupHandler packetHandler = {GROUP, 0, 0, &packet_receive, 0};
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void packet_receive (char type, int source, unsigned char* packet, int length) {
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orb_set_color(YELLOW); |
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//send to server |
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usb_putc(packet[0]); |
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usb_putc(packet[1]); |
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usb_putc(packet[2]); |
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usb_putc(packet[3]); |
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//Read in from server |
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data[0] = usb_getc(); |
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data[1] = usb_getc(); |
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data[2] = usb_getc(); |
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data[3] = usb_getc(); |
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wl_send_global_packet(GROUP, TYPE, data, 4, 0); |
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//orb_set_color(GREEN); |
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} |
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int main (void) {
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dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER); |
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//dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER); |
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dragonfly_init(ALL_ON); |
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wl_init(); |
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lcd_init(); |
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lcd_puts("S");
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// orb_set_color(RED); |
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// wl_register_packet_group(&packetHandler); |
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// orb_set_color(YELLOW); |
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//Read in from server |
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// delay_ms(1000); |
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// data[0] = usb_getc(); |
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//motor1_set(0,200); |
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// data[1] = usb_getc(); |
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//motor2_set(0,200); |
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// data[2] = usb_getc(); |
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//motor1_set(1,200); |
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// data[3] = usb_getc(); |
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wl_register_packet_group(&packetHandler); |
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//motor2_set(1,200); |
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// orb_set_color(PURPLE); |
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//packet_receive(TYPE, 0, data, 4); |
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wl_send_global_packet(GROUP, TYPE, data, 4, 0); |
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// orb_set_color(GREEN); |
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while (1) {
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char vel[4] = {170, 0, 170, 1};
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wl_send_global_packet(GROUP, TYPE, vel, 4, 0); |
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// char vel[4] = {170, 0, 170, 1};
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// wl_send_global_packet(GROUP, TYPE, vel, 4, 0);
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wl_do(); |
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} |
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