Revision 1237
Server code updated to handle velocity, untested
| server.c | ||
|---|---|---|
| 4 | 4 |
#include <sys/types.h> |
| 5 | 5 |
#include <sys/stat.h> |
| 6 | 6 |
#include <fcntl.h> |
| 7 |
#include "encoders.h" |
|
| 7 | 8 |
|
| 8 | 9 |
#define LS 0 |
| 9 | 10 |
#define LD 1 |
| ... | ... | |
| 12 | 13 |
#define FORWARD 1 |
| 13 | 14 |
#define BACKWARD 0 |
| 14 | 15 |
#define SENDER 1 |
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#define RECEIVER 0 |
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#define RECEIVER 0
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|
| 16 | 17 |
|
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int left_dx = 0; |
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int right_dx = 0; |
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|
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| 17 | 21 |
void setAttrib(int file) |
| 18 | 22 |
{
|
| 19 | 23 |
struct termios attributes; |
| ... | ... | |
| 26 | 30 |
attributes.c_cflag &= ~CSIZE; |
| 27 | 31 |
attributes.c_cflag |= CS8; |
| 28 | 32 |
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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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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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| 35 | 37 |
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| 36 | 38 |
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| 37 | 39 |
if (tcsetattr(file, TCSANOW, &attributes) < 0){
|
| ... | ... | |
| 64 | 66 |
|
| 65 | 67 |
//Sending velocity as LS LD RS RD |
| 66 | 68 |
int tempCount = 0; |
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int dx, left_v; |
|
| 67 | 71 |
|
| 68 | 72 |
while(1) |
| 69 | 73 |
{
|
| ... | ... | |
| 94 | 98 |
|
| 95 | 99 |
int leftEncoder = (encoders[0] << 8) | encoders[1]; |
| 96 | 100 |
int rightEncoder = (encoders[2] << 8) | encoders[3]; |
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printf("%d %d\n", leftEncoder, rightEncoder);
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// printf("%d %d\n", leftEncoder, rightEncoder);
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encoder_recv(leftEncoder, rightEncoder); |
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printf("LEFT V: %d \t RIGHT V: %d\n", encoder_get_v(LEFT), encoder_get_v(RIGHT));
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} |
| 100 | 110 |
|
| 101 | 111 |
} |
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