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_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 */ /* Define the motor controller and encoder library you are using */
#ifdef USE_BASE #ifdef USE_BASE
@ -191,7 +191,7 @@ int runCommand() {
switch(cmd) { switch(cmd) {
case GET_BAUDRATE: case GET_BAUDRATE:
Serial.print(" "); Serial.print(F(" "));
Serial.println(BAUDRATE); Serial.println(BAUDRATE);
break; break;
case ANALOG_READ: case ANALOG_READ:
@ -202,17 +202,17 @@ int runCommand() {
break; break;
case ANALOG_WRITE: case ANALOG_WRITE:
analogWrite(arg1, arg2); analogWrite(arg1, arg2);
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case DIGITAL_WRITE: case DIGITAL_WRITE:
if (arg2 == 0) digitalWrite(arg1, LOW); if (arg2 == 0) digitalWrite(arg1, LOW);
else if (arg2 == 1) digitalWrite(arg1, HIGH); else if (arg2 == 1) digitalWrite(arg1, HIGH);
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case PIN_MODE: case PIN_MODE:
if (arg2 == 0) pinMode(arg1, INPUT); if (arg2 == 0) pinMode(arg1, INPUT);
else if (arg2 == 1) pinMode(arg1, OUTPUT); else if (arg2 == 1) pinMode(arg1, OUTPUT);
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case PING: case PING:
Serial.println(Ping(arg1)); Serial.println(Ping(arg1));
@ -221,34 +221,34 @@ int runCommand() {
case READ_IMU: case READ_IMU:
imu_data = readIMU(); imu_data = readIMU();
Serial.print(imu_data.ax); Serial.print(imu_data.ax);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.ay); Serial.print(imu_data.ay);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.az); Serial.print(imu_data.az);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.gx); Serial.print(imu_data.gx);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.gy); Serial.print(imu_data.gy);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.gz); Serial.print(imu_data.gz);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.mx); Serial.print(imu_data.mx);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.my); Serial.print(imu_data.my);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.mz); Serial.print(imu_data.mz);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.roll); Serial.print(imu_data.roll);
Serial.print(" "); Serial.print(F(" "));
Serial.print(imu_data.pitch); Serial.print(imu_data.pitch);
Serial.print(" "); Serial.print(F(" "));
Serial.println(imu_data.uh); Serial.println(imu_data.uh);
break; break;
#endif #endif
#ifdef USE_SERVOS #ifdef USE_SERVOS
case SERVO_WRITE: case SERVO_WRITE:
servos[arg1].setTargetPosition(arg2); servos[arg1].setTargetPosition(arg2);
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case SERVO_READ: case SERVO_READ:
Serial.println(servos[arg1].getServo().read()); Serial.println(servos[arg1].getServo().read());
@ -261,25 +261,25 @@ int runCommand() {
myServos[arg1].enable(); myServos[arg1].enable();
nServos++; nServos++;
} }
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case SERVO_WRITE: case SERVO_WRITE:
if (myServos[arg1].isEnabled()) { if (myServos[arg1].isEnabled()) {
myServos[arg1].setTargetPosition(arg2); myServos[arg1].setTargetPosition(arg2);
} }
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case SERVO_READ: case SERVO_READ:
Serial.println(myServos[arg1].getCurrentPosition()); Serial.println(myServos[arg1].getCurrentPosition());
break; break;
case SERVO_DELAY: case SERVO_DELAY:
myServos[arg1].setServoDelay(arg1, arg2); myServos[arg1].setServoDelay(arg1, arg2);
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case DETACH_SERVO: case DETACH_SERVO:
myServos[arg1].getServo().detach(); myServos[arg1].getServo().detach();
myServos[arg1].disable(); myServos[arg1].disable();
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case ATTACH_SERVO: case ATTACH_SERVO:
if (!haveServo(arg1)) { if (!haveServo(arg1)) {
@ -291,7 +291,7 @@ int runCommand() {
myServos[arg1].getServo().attach(arg1); myServos[arg1].getServo().attach(arg1);
} }
myServos[arg1].enable(); myServos[arg1].enable();
Serial.println("OK"); Serial.println(F("OK"));
break; break;
#endif #endif
@ -299,13 +299,13 @@ int runCommand() {
#ifdef USE_BASE #ifdef USE_BASE
case READ_ENCODERS: case READ_ENCODERS:
Serial.print(readEncoder(LEFT)); Serial.print(readEncoder(LEFT));
Serial.print(" "); Serial.print(F(" "));
Serial.println(readEncoder(RIGHT)); Serial.println(readEncoder(RIGHT));
break; break;
case RESET_ENCODERS: case RESET_ENCODERS:
resetEncoders(); resetEncoders();
resetPID(); resetPID();
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case MOTOR_SPEEDS: case MOTOR_SPEEDS:
/* Reset the auto stop timer */ /* Reset the auto stop timer */
@ -317,7 +317,7 @@ int runCommand() {
else moving = 1; else moving = 1;
leftPID.TargetTicksPerFrame = arg1; leftPID.TargetTicksPerFrame = arg1;
rightPID.TargetTicksPerFrame = arg2; rightPID.TargetTicksPerFrame = arg2;
Serial.println("OK"); Serial.println(F("OK"));
break; break;
case UPDATE_PID: case UPDATE_PID:
i = 0; i = 0;
@ -329,11 +329,11 @@ int runCommand() {
Kd = pid_args[1]; Kd = pid_args[1];
Ki = pid_args[2]; Ki = pid_args[2];
Ko = pid_args[3]; Ko = pid_args[3];
Serial.println("OK"); Serial.println(F("OK"));
break; break;
#endif #endif
default: default:
Serial.println("Invalid Command"); Serial.println(F("Invalid Command"));
break; break;
} }
} }