yikestone/ros_arduino_bridge
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Replaced all strings with F() macro in Serial.print statements

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This commit is contained in:
Patrick Goebel 2016-04-06 06:29:19 -07:00
parent 77f5963e05
commit 9a84380e7c
1 changed files with 27 additions and 27 deletions
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54
ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
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@ -47,7 +47,7 @@
#define USE_BASE // Enable/disable the base controller code
//#define USE_IMU // Enable/disable use of an IMU
#define USE_IMU // Enable/disable use of an IMU
/* Define the motor controller and encoder library you are using */
#ifdef USE_BASE
@ -191,7 +191,7 @@ int runCommand() {
switch(cmd) {
case GET_BAUDRATE:
Serial.print(" ");
Serial.print(F(" "));
Serial.println(BAUDRATE);
break;
case ANALOG_READ:
@ -202,17 +202,17 @@ int runCommand() {
break;
case ANALOG_WRITE:
analogWrite(arg1, arg2);
Serial.println("OK");
Serial.println(F("OK"));
break;
case DIGITAL_WRITE:
if (arg2 == 0) digitalWrite(arg1, LOW);
else if (arg2 == 1) digitalWrite(arg1, HIGH);
Serial.println("OK");
Serial.println(F("OK"));
break;
case PIN_MODE:
if (arg2 == 0) pinMode(arg1, INPUT);
else if (arg2 == 1) pinMode(arg1, OUTPUT);
Serial.println("OK");
Serial.println(F("OK"));
break;
case PING:
Serial.println(Ping(arg1));
@ -221,34 +221,34 @@ int runCommand() {
case READ_IMU:
imu_data = readIMU();
Serial.print(imu_data.ax);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.ay);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.az);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.gx);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.gy);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.gz);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.mx);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.my);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.mz);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.roll);
Serial.print(" ");
Serial.print(F(" "));
Serial.print(imu_data.pitch);
Serial.print(" ");
Serial.print(F(" "));
Serial.println(imu_data.uh);
break;
#endif
#ifdef USE_SERVOS
case SERVO_WRITE:
servos[arg1].setTargetPosition(arg2);
Serial.println("OK");
Serial.println(F("OK"));
break;
case SERVO_READ:
Serial.println(servos[arg1].getServo().read());
@ -261,25 +261,25 @@ int runCommand() {
myServos[arg1].enable();
nServos++;
}
Serial.println("OK");
Serial.println(F("OK"));
break;
case SERVO_WRITE:
if (myServos[arg1].isEnabled()) {
myServos[arg1].setTargetPosition(arg2);
}
Serial.println("OK");
Serial.println(F("OK"));
break;
case SERVO_READ:
Serial.println(myServos[arg1].getCurrentPosition());
break;
case SERVO_DELAY:
myServos[arg1].setServoDelay(arg1, arg2);
Serial.println("OK");
Serial.println(F("OK"));
break;
case DETACH_SERVO:
myServos[arg1].getServo().detach();
myServos[arg1].disable();
Serial.println("OK");
Serial.println(F("OK"));
break;
case ATTACH_SERVO:
if (!haveServo(arg1)) {
@ -291,7 +291,7 @@ int runCommand() {
myServos[arg1].getServo().attach(arg1);
}
myServos[arg1].enable();
Serial.println("OK");
Serial.println(F("OK"));
break;
#endif
@ -299,13 +299,13 @@ int runCommand() {
#ifdef USE_BASE
case READ_ENCODERS:
Serial.print(readEncoder(LEFT));
Serial.print(" ");
Serial.print(F(" "));
Serial.println(readEncoder(RIGHT));
break;
case RESET_ENCODERS:
resetEncoders();
resetPID();
Serial.println("OK");
Serial.println(F("OK"));
break;
case MOTOR_SPEEDS:
/* Reset the auto stop timer */
@ -317,7 +317,7 @@ int runCommand() {
else moving = 1;
leftPID.TargetTicksPerFrame = arg1;
rightPID.TargetTicksPerFrame = arg2;
Serial.println("OK");
Serial.println(F("OK"));
break;
case UPDATE_PID:
i = 0;
@ -329,11 +329,11 @@ int runCommand() {
Kd = pid_args[1];
Ki = pid_args[2];
Ko = pid_args[3];
Serial.println("OK");
Serial.println(F("OK"));
break;
#endif
default:
Serial.println("Invalid Command");
Serial.println(F("Invalid Command"));
break;
}
}