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Revision 1216

Added by Rich Hong about 15 years ago

spline server and master

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server.c
5 5
#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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