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Revision 1239

Added by Rich Hong almost 15 years ago

small changes to spline server code

View differences:

server.c
65 65 
	write(serialFileOut, &senderNum, 1);
66 66
67 67 
	//Sending velocity as LS LD RS RD
68 
	int tempCount = 0;
68 
	int tempCount = 190;
69 69 

  		




  70
  70
  
    
	int dx, left_v;


  		




  71
  71
  
    
	


  		




  ......




  73
  73
  
    
	{


  		




  74
  74
  
    
		printf("SENDING DATA\n");


  		




  75
  75
  
    
		encoders[LS] = tempCount;


  		




  76
  
  
    
		encoders[LD] = 1;


  		




  
  76
  
    
		encoders[LD] = 0;


  		




  77
  77
  
    
		encoders[RS] = tempCount;


  		




  78
  78
  
    
		encoders[RD] = 0;


  		




  79
  
  
    
		tempCount += 50;


  		




  
  79
  
    
		//tempCount += 50;


  		




  80
  80
  
    
		int temp = 0;


  		




  81
  81
  
    
		int count = 0;


  		




  82
  82
  
    
		do


  		




  ......




  87
  87
  
    
				perror("Write Error");


  		




  88
  88
  
    
			count += temp;


  		




  89
  89
  
    
			printf("sent: %d\n", count);


  		




  90
  
  
    
			usleep(100);


  		




  
  90
  
    
			usleep(200);


  		




  91
  91
  
    
		}while(count < 4);


  		




  92
  92
  
    
		count = 0;


  		




  93
  93
  
    
		printf("READING DATA\n");


  		




  ......




  96
  96
  
    
			count += read(serialFileIn, encoders, 4);


  		




  97
  97
  
    
		}while(count < 4);


  		




  98
  98
  
    
		


  		




  99
  
  
    
		int leftEncoder = (encoders[0] << 8) | encoders[1];


  		




  100
  
  
    
		int rightEncoder = (encoders[2] << 8) | encoders[3];


  		




  101
  
  
    
//		printf("%d %d\n", leftEncoder, rightEncoder);


  		




  
  99
  
    
		short leftEncoder = (encoders[0] << 8) | encoders[1];


  		




  
  100
  
    
		short rightEncoder = (encoders[2] << 8) | encoders[3];


  		




  
  101
  
    
		printf("%d %d\n", leftEncoder, rightEncoder);


  		




  102
  102
  
    

  		




  103
  
  
    
		encoder_recv(leftEncoder, rightEncoder);


  		




  104
  
  
    
		printf("LEFT V: %d \t RIGHT V: %d\n", encoder_get_v(LEFT), encoder_get_v(RIGHT));


  		




  
  103
  
    
//		encoder_recv(leftEncoder, rightEncoder);


  		




  
  104
  
    
//		printf("LEFT V: %d \t RIGHT V: %d\n", encoder_get_v(LEFT), encoder_get_v(RIGHT));


  		




  105
  105
  
    

  		




  106
  106
  
    

  		




  107
  107
  
    

  		












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