root / branches / encoders / code / behaviors / spline / server / server.c @ 1216
History | View | Annotate | Download (1.7 KB)
1 |
#include <termios.h> |
---|---|
2 |
#include <stdio.h> |
3 |
#include <stdlib.h> |
4 |
#include <sys/types.h> |
5 |
#include <sys/stat.h> |
6 |
#include <fcntl.h> |
7 |
|
8 |
#define LS 0 |
9 |
#define LD 1 |
10 |
#define RS 2 |
11 |
#define RD 3 |
12 |
#define FORWARD 1 |
13 |
#define BACKWARD 0 |
14 |
|
15 |
int main()
|
16 |
{ |
17 |
int serialFile = open("/dev/ttyUSB0", O_RDWR); |
18 |
if(serialFile < 1) |
19 |
{ |
20 |
printf("Error opening serial\n");
|
21 |
return -1; |
22 |
} |
23 |
|
24 |
struct termios attributes;
|
25 |
tcgetattr(serialFile, &attributes); |
26 |
|
27 |
cfsetispeed(&attributes, B115200); |
28 |
cfsetospeed(&attributes, B115200); |
29 |
attributes.c_cflag &= ~PARENB; |
30 |
attributes.c_cflag &= ~CSTOPB; |
31 |
attributes.c_cflag &= ~CSIZE; |
32 |
attributes.c_cflag |= CS8; |
33 |
|
34 |
// attributes.c_cflag &= ~ICRNL;
|
35 |
// attributes.c_cflag &= ~OCRNL;
|
36 |
// attributes.c_cflag |= (CLOCAL | CREAD);
|
37 |
// attributes.c_lflag &= ~ICANON;
|
38 |
// attributes.c_cc[VMIN] = 1;
|
39 |
// attributes.c_cc[VTIME] = 50;
|
40 |
|
41 |
|
42 |
if (tcsetattr(serialFile, TCSANOW, &attributes) < 0){ |
43 |
perror("tcsetattr failed");
|
44 |
exit(-1);
|
45 |
} |
46 |
|
47 |
unsigned char encoders[4] = {1,1,1,1}; |
48 |
/// while(1)
|
49 |
// write(serialFile, encoders, 1);
|
50 |
//Sending velocity as LS LD RS RD
|
51 |
while(1) |
52 |
{ |
53 |
printf("SENDING DATA\n");
|
54 |
encoders[LS] = 170;
|
55 |
encoders[LD] = 1;
|
56 |
encoders[RS] = 170;
|
57 |
encoders[RD] = 1;
|
58 |
int temp = 0; |
59 |
int count = 0; |
60 |
do
|
61 |
{ |
62 |
// tcflush(serialFile, TCIOFLUSH
|
63 |
temp = write(serialFile, encoders + count, 1);
|
64 |
if(temp < 0) |
65 |
perror("Write Error");
|
66 |
count += temp; |
67 |
// tcflush(serialFile, TCIOFLUSH);
|
68 |
usleep(10000);
|
69 |
}while(count < 4); |
70 |
count = 0;
|
71 |
printf("READING DATA\n");
|
72 |
do
|
73 |
{ |
74 |
count += read(serialFile, encoders, 4);
|
75 |
}while(count < 4); |
76 |
|
77 |
int leftEncoder = (encoders[0] << 8) | encoders[1]; |
78 |
int rightEncoder = (encoders[2] << 8) | encoders[3]; |
79 |
printf("%d %d\n", leftEncoder, rightEncoder);
|
80 |
|
81 |
} |
82 |
|
83 |
} |