yikestone/ros_arduino_bridge
1
0
Fork 0
mirror of https://github.com/YikeStone/ros_arduino_bridge.git synced 2025-08-03 11:14:08 +05:30
Code Issues Projects Releases Wiki Activity

Changed mode variable to arg in MegaRobogaiaPololu sketch

Browse Source
This commit is contained in:
Patrick Goebel 2012-12-20 06:26:08 -08:00
parent 603154c1a9
commit 252ec14490
1 changed files with 19 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/MegaRobogaiaPololu.ino
View File

@ -10,6 +10,8 @@
Created for the Pi Robot Project: http://www.pirobot.org Created for the Pi Robot Project: http://www.pirobot.org
Inspired and modeled after the ArbotiX driver by Michael Ferguson
Software License Agreement (BSD License) Software License Agreement (BSD License)
Copyright (c) 2012, Patrick Goebel. Copyright (c) 2012, Patrick Goebel.
@ -81,7 +83,7 @@
DualVNH5019MotorShield drive; DualVNH5019MotorShield drive;
/* Create the encoder shield object */ /* Create the encoder shield object */
MegaEncoderCounter encoders(4); // Initializes the Mega Encoder Counter in the 4X Count Mode MegaEncoderCounter encoders(4); // Initializes the Mega Encoder Counter in the 4X Count arg
/* PID parameters and functions */ /* PID parameters and functions */
#include "diff_controller.h" #include "diff_controller.h"
@ -139,7 +141,7 @@
/* Variable initialization */ /* Variable initialization */
// A pair of varibles to help parse serial commands (thanks Fergs) // A pair of varibles to help parse serial commands (thanks Fergs)
int mode = 0; int arg = 0;
int index = 0; int index = 0;
// Variable to hold an input character // Variable to hold an input character
@ -163,7 +165,7 @@ void resetCommand() {
memset(argv2, 0, sizeof(argv2)); memset(argv2, 0, sizeof(argv2));
arg1 = 0; arg1 = 0;
arg2 = 0; arg2 = 0;
mode = 0; arg = 0;
index = 0; index = 0;
} }
@ -274,40 +276,44 @@ void setup() {
} }
/* Enter the main loop. Read and parse input from the serial port /* Enter the main loop. Read and parse input from the serial port
and run any valid commands. Run a PID calculation at the target and run any valid commands. Run a PID calculation at the target
intervals and check for auto-stop conditions. interval and check for auto-stop conditions.
*/ */
void loop() { void loop() {
while (Serial.available() > 0) { while (Serial.available() > 0) {
// Read the next character
chr = Serial.read(); chr = Serial.read();
// Terminate a command with a CR // Terminate a command with a CR
if (chr == 13) { if (chr == 13) {
if (mode == 1) argv1[index] = NULL; if (arg == 1) argv1[index] = NULL;
else if (mode == 2) argv2[index] = NULL; else if (arg == 2) argv2[index] = NULL;
runCommand(); runCommand();
resetCommand(); resetCommand();
} }
// Use spaces to delimit parts of the command // Use spaces to delimit parts of the command
else if (chr == ' ') { else if (chr == ' ') {
if (mode == 0) mode = 1; // Step through the arguments
else if (mode == 1) { if (arg == 0) arg = 1;
else if (arg == 1) {
argv1[index] = NULL; argv1[index] = NULL;
mode = 2; arg = 2;
index = 0; index = 0;
} }
continue; continue;
} }
else { else {
if (mode == 0) { if (arg == 0) {
// The first arg is the single-letter command
cmd = chr; cmd = chr;
} }
else if (mode == 1) { else if (arg == 1) {
// Subsequent arguments can be more than one character
argv1[index] = chr; argv1[index] = chr;
index++; index++;
} }
else if (mode == 2) { else if (arg == 2) {
argv2[index] = chr; argv2[index] = chr;
index++; index++;
} }