interfisch
/
serialVisualization
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add commands

This commit is contained in:
interfisch 2019-06-13 18:57:45 +02:00
parent b7dd466f02
commit 56266c35e9
1 changed files with 12 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
hoverbrettvisualizer/hoverbrettvisualizer.pde
View File

@ -11,6 +11,7 @@ Visualization visGT_Vertical;
int steer=0; int steer=0;
int speed=0; int speed=0;
int booleanvalues=0;
float voltage = 50; float voltage = 50;
float current = 0.0; float current = 0.0;
float yaw=0; float yaw=0;
@ -94,16 +95,17 @@ void draw() {
public void receive() public void receive()
{ {
boolean received=false; boolean received=false;
byte[] inBuffer = new byte[16]; byte[] inBuffer = new byte[17];
while(serialport.available()>0) { while(serialport.available()>0) {
inBuffer = serialport.readBytes(); inBuffer = serialport.readBytes();
serialport.readBytes(inBuffer); serialport.readBytes(inBuffer);
if (inBuffer != null && inBuffer.length==16) { if (inBuffer != null && inBuffer.length==17) {
received=true; received=true;
int _address=0; int _address=0;
steer = extract_int16_t(inBuffer,_address); _address+=2; steer = extract_int16_t(inBuffer,_address); _address+=2;
speed = extract_int16_t(inBuffer,_address); _address+=2; speed = extract_int16_t(inBuffer,_address); _address+=2;
booleanvalues = extract_uint8_t(inBuffer,_address); _address+=1;
voltage = extract_float(inBuffer, _address); _address+=4; voltage = extract_float(inBuffer, _address); _address+=4;
//current = extract_float(inBuffer,_address);_address+=4; //current = extract_float(inBuffer,_address);_address+=4;
yaw = extract_float(inBuffer,_address);_address+=4; yaw = extract_float(inBuffer,_address);_address+=4;
@ -113,6 +115,10 @@ public void receive()
//println("yaw="+yaw); //println("yaw="+yaw);
//println("gt_horizontal="+gt_horizontal); //println("gt_horizontal="+gt_horizontal);
boolean motorenabled=boolean(booleanvalues & (1<<0)>>0); //check bit 0
int controlmode=(booleanvalues & (3<<1))>>1; //check bit 1 and 2
println("motorenabled="+motorenabled+" controlmode="+controlmode);
} }
} }
@ -130,6 +136,10 @@ public int extract_int8_t(byte array[], int startbyte) {
} }
} }
public int extract_uint8_t(byte array[], int startbyte) {
return ((int)array[startbyte] & 0xff);
}
public int extract_uint16_t(byte array[], int startbyte) { public int extract_uint16_t(byte array[], int startbyte) {
return ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0xff)<<8; return ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0xff)<<8;
} }