C++ Uart::readChar方法代码示例

/// Entry point of application.
int main(){
  //Pin connected to the rx pin of the Qik motor controller.
  int qTx = 25;
  //Pin connected to the tx pin of the Qik motor controller.
  int qRx = 26;
  //Baud rate used to communicate with the Qik motor controller.
  int qBaud = 115200;
  
  //Pin connected to the photointerrupter of the encoder on the left motor.
  int ePin1 = 10;
  //Pin connected to the photointerrupter of the encoder on the right motor.
  int ePin2 = 11;
  
  //Pin connected to the ultrasonic sensor at the front of the rosbee on the left side.
  int ussPin1 = 5;
  //Pin connected to the ultrasonic sensor at the front of the rosbee in the middle.
  int ussPin2 = 6;
  //Pin connected to the ultrasonic sensor at the front of the rosbee on the right side.
  int ussPin3 = 7;
  //Pin connected to the ultrasonic sensor at the back of the rosbee on the left side.
  int ussPin4 = 8;
  //Pin connected to the ultrasonic sensor at the back of the rosbee on the right side.
  int ussPin5 = 4;
  //Pin connected to the ultrasonic sensor at the back of hte rosbee int the middle.
  int ussPin6 = 9;
  
  //If you wish to send debug information to the console you need to make the propeller wait a sec.
  //The propeller is faster then the startup of the console. This will result in data being missed. 
  //Uncomment while debugging.
  //sleep(1);
  
  //Uart object for communication.
  Uart uart;
  //Qik object for motor control.
  Qik qik{qTx,qRx,qBaud};
  //Stop  motor 1.
  //This is done so the rosbee won't drive away and/or stop while the 
  //program is rebooted.
  qik.setMotorSpeed(Qik::Motor::M0,0);
 
  //Stop  motor 2.
  //This is done so the rosbee won't drive away and/or stop while the 
  //program is rebooted.
  qik.setMotorSpeed(Qik::Motor::M1,0);
  
  //Encoder object for the left motor.
  Encoder enc1{ePin1};
  //Encoder object fot the right motor.
  Encoder enc2{ePin2};
  
  //Ultrasonic sensor object for the sensor front left. 
  UltraSonicSensor uss1(ussPin1);
  //Ultrasonic sensor object for the sensor front middle.
  UltraSonicSensor uss2(ussPin2);
  //Ultrasonic sensor object for the sensor front right.
  UltraSonicSensor uss3(ussPin3);
  //Ultrasonic sensor object for the sensor back left.
  UltraSonicSensor uss4(ussPin4);
  //Ultrasonic sensor object for the sensor front right.
  UltraSonicSensor uss5(ussPin5);
  
  //Variables used for communcation.
  //cmd = command byte received.
  //value = follow byte received.
  //rtn = byte to be send.
  //intRtn = int(4 bytes) to be send.
  //speed = motor speed (can be negative).
  char cmd, value, rtn;
  int intRtn;
  signed char speed;
  
  //Run forever.
  //The rosbee is expected to work as long as it has power.
  //Therefore  this loop never needs to end.
  while(true){
    //Get the command byte.
    //This will block if no byte is available.
    cmd = uart.readChar();
    
    //Check which command to execute.
    //This is just a epic long switch case.
    //There was honestly no better way to do this that does
    //not require making infinite classes.
    switch(cmd){
      //Motors
      //Commands regarding the motor controllers.
      case PPP::SET_SPEED_M0:
        speed = uart.readChar();
        qik.setMotorSpeed(Qik::Motor::M0,speed);
        break;
      case PPP::SET_SPEED_M1:
        speed = uart.readChar();
        qik.setMotorSpeed(Qik::Motor::M1,speed);
        break;
      case PPP::SET_BRAKE_SPEED_M0:
        value = uart.readChar();
        qik.setBrakePower(Qik::Motor::M0,value);
        break;
      case PPP::SET_BRAKE_SPEED_M1:
//.........这里部分代码省略.........