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Changed mode variable to arg in MegaRobogaiaPololu sketch

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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
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32
ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/MegaRobogaiaPololu.ino
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@ -10,6 +10,8 @@
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)
Copyright (c) 2012, Patrick Goebel.
@ -81,7 +83,7 @@
DualVNH5019MotorShield drive;
/* 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 */
#include "diff_controller.h"
@ -139,7 +141,7 @@
/* Variable initialization */
// A pair of varibles to help parse serial commands (thanks Fergs)
int mode = 0;
int arg = 0;
int index = 0;
// Variable to hold an input character
@ -163,7 +165,7 @@ void resetCommand() {
memset(argv2, 0, sizeof(argv2));
arg1 = 0;
arg2 = 0;
mode = 0;
arg = 0;
index = 0;
}
@ -274,40 +276,44 @@ void setup() {
}
/* Enter the main loop. Read and parse input from the serial port
and run any valid commands. Run a PID calculation at the target
intervals and check for auto-stop conditions.
and run any valid commands. Run a PID calculation at the target
interval and check for auto-stop conditions.
*/
void loop() {
while (Serial.available() > 0) {
// Read the next character
chr = Serial.read();
// Terminate a command with a CR
if (chr == 13) {
if (mode == 1) argv1[index] = NULL;
else if (mode == 2) argv2[index] = NULL;
if (arg == 1) argv1[index] = NULL;
else if (arg == 2) argv2[index] = NULL;
runCommand();
resetCommand();
}
// Use spaces to delimit parts of the command
else if (chr == ' ') {
if (mode == 0) mode = 1;
else if (mode == 1) {
// Step through the arguments
if (arg == 0) arg = 1;
else if (arg == 1) {
argv1[index] = NULL;
mode = 2;
arg = 2;
index = 0;
}
continue;
}
else {
if (mode == 0) {
if (arg == 0) {
// The first arg is the single-letter command
cmd = chr;
}
else if (mode == 1) {
else if (arg == 1) {
// Subsequent arguments can be more than one character
argv1[index] = chr;
index++;
}
else if (mode == 2) {
else if (arg == 2) {
argv2[index] = chr;
index++;
}