Smikkelbakje/J2S1-Kobuki
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made it so we can read indiviual buttons

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This commit is contained in:
Sam Hos
2024-10-22 15:10:08 +02:00
parent 1175444abf
commit 7fa04a5c35
4 changed files with 53 additions and 50 deletions
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8
src/C++/Driver/src/KobukiParser.cpp
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@@ -1,8 +1,6 @@
#include "KobukiParser.h"
#include <iostream>
//checkedValue const maken
//bitwise operators nachecken met website van kobuki serial website
//cliffsensor kan rauwe getallen zijn
//moet checkenvalue gebruiken of moet kijken naar de payloadlength welke dingen er extra zijn
int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
int rtrnvalue = checkChecksum(data);
if (rtrnvalue != 0) {
@@ -127,7 +125,9 @@ void KobukiParser::parseBasicData(TKobukiData &output, unsigned char *data, int
checkedValue++;
output.PWMright = data[checkedValue];
checkedValue++;
output.ButtonPress = data[checkedValue];
output.ButtonPress1 = data[checkedValue] & 0x01;
output.ButtonPress2 = data[checkedValue] & 0x02;
output.ButtonPress3 = data[checkedValue] & 0x04;
checkedValue++;
output.Charger = data[checkedValue];
checkedValue++;

3
src/C++/Driver/src/KobukiParser.h
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@@ -19,7 +19,8 @@ struct TKobukiData {
int CliffCenter, CliffLeft, CliffRight;
int EncoderLeft, EncoderRight;
int PWMleft, PWMright;
int ButtonPress, Charger, Battery, overCurrent;
int ButtonPress1, ButtonPress2, ButtonPress3;
int Charger, Battery, overCurrent;
int IRSensorRight, IRSensorCenter, IRSensorLeft;
int GyroAngle, GyroAngleRate;
int CliffSensorRight, CliffSensorCenter, CliffSensorLeft;

86
src/C++/Driver/src/main.cpp
View File

@@ -12,60 +12,60 @@ void logToFile();
int main()
{
unsigned char *null_ptr(0);
robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
unsigned char *null_ptr(0);
robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
std::thread safety([&robot]() { robot.robotSafety(); }); // use a lambda function to call the member function
std::thread safety([&robot]()
{ robot.robotSafety(); }); // use a lambda function to call the member function
safety.detach();
thread movementThread(movement);
movementThread.join(); //so the program doesnt quit
return 0;
movementThread.join(); // so the program doesnt quit
return 0;
}
int checkCenterCliff()
{
while (true)
{
std::cout << robot.parser.data.CliffSensorRight << endl;
}
while (true)
{
std::cout << robot.parser.data.CliffSensorRight << endl;
}
}
int movement()
{
int text;
while (true)
{
int text;
while (true)
{
cout << "gimme input: ";
cin >> text;
cin >> text;
if (text == 1)
{
if (text == 1)
{
robot.forward(400);
}
else if (text == 2)
{
// 1 is full circle
robot.Rotate(90);
}
else if (text == 3)
{
// Add your code here for text == 3
}
else
{
try
{
robot.doRotation(text);
throw "NaN";
}
catch (const char *msg)
{
cerr << msg << endl;
}
}
}
}
else if (text == 2)
{
// 1 is full circle
robot.Rotate(90);
}
else if (text == 3)
{
// Add your code here for text == 3
}
else
{
try
{
robot.doRotation(text);
throw "NaN";
}
catch (const char *msg)
{
cerr << msg << endl;
}
}
}
}
void logToFile()
@@ -73,7 +73,7 @@ void logToFile()
while (true)
{
TKobukiData robotData = robot.parser.data;
std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
if (outputFile.is_open())
{ // check if the file was opened successfully
// Get current time
@@ -98,7 +98,9 @@ void logToFile()
outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
outputFile << "PWMleft: " << robotData.PWMleft << "\n";
outputFile << "PWMright: " << robotData.PWMright << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress1 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress2 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress3 << "\n";
outputFile << "Charger: " << robotData.Charger << "\n";
outputFile << "Battery: " << robotData.Battery << "\n";
outputFile << "overCurrent: " << robotData.overCurrent << "\n";
@@ -122,7 +124,7 @@ void logToFile()
outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
outputFile.close();
outputFile.close();
}
else
{