Revert "Originaccelstepprocessing"

Position6400DUE24dataEnableNoJoeDriverAffiche_PositionMoteur/com.cpp

@@ -0,0 +1,163 @@
+#include "io.h"
+#include "com.h"
+
+void initCom() {
+//  Serial.begin(115200);
+//  Serial1.begin(115200);
+}
+
+void printSerialCommandsAvailable() {
+  Serial.print("");
+  Serial.println("Liste des commandes disponibles VERSION DEV 1.0");
+  Serial.println("");
+  Serial.println("help= : Montre l'ensemble des commandes serial disponible");
+  Serial.println("goal=N Steps : Donne l'objectif en step au moteur N");
+  Serial.println("maxspeed=N Steps : Donne l'objectif en step.s-1 au moteur N");
+  Serial.println("accel=N Steps : Donne l'objectif en step.s-2 au moteur N");
+  Serial.println("go= : Fait bouger tous les moteurs");
+  Serial.println("rotate= Fait tourner tous les moteurs à leur vitesse maxspeed");
+  Serial.println("override=PERCENT change proportionnellement la vitesse de tous les moteurs en % de maxspeed");
+  Serial.println("init= : Lance la séquence d'initialisation");
+  Serial.println("codeur=N : Donne la position du codeur N");
+  Serial.println("codeurs= : Donne la position de tous les codeurs");
+  Serial.println("stop= : Stop les moteur ");
+
+  Serial.println("");
+}
+
+bool readSerial() {
+//  bool received = false;
+//  while (Serial.available()) {
+//    char data = Serial.read();
+//    addCharToSerialBuffer(data);
+//    received = true;
+//  }
+//  return received;
+}
+
+// Read Serial data storage
+char cmdOp[NBCHAR] = {""};
+char cmdArg[NBCHAR] = {""};
+char cmdArg2[NBCHAR] = {""};
+
+/**
+   Lors de l'envoi d'une commande, enregistre la commande ainsi que son ou ses arguments
+   et lance la fonction parseSerialBuffer() pour traiter la commande
+*/
+void addCharToSerialBuffer(char c) {
+  static uint8_t cmdState = 0;
+  static uint8_t cmdOpi = 0;
+  static uint16_t cmdArgi = 0;
+  static uint16_t cmdArg2i = 0;
+
+  switch (cmdState)
+  {
+    case 0 :
+      if (c == '\n')
+        cmdOpi = 0;
+      else if (c == '=') {
+        cmdOp[cmdOpi] = '\0';
+        cmdArgi = 0;
+        cmdState = 1;
+      }
+      else if (cmdOpi < sizeof(cmdOp) - 1)
+        cmdOp[cmdOpi++] = c;
+      break;
+
+    case 1 :
+      if (c == '\n') {
+        cmdArg[cmdArgi] = 0;
+        cmdArg2[0] = '\0';
+        parseSerialBuffer();
+        cmdOpi = 0;
+        cmdState = 0;
+      }
+      else if (c == ' ') {
+        cmdArg[cmdArgi] = 0;
+        cmdOpi = 0;
+        cmdArg2i = 0;
+        cmdState = 2;
+      }
+      else if (cmdArgi < sizeof(cmdArg) - 1)
+        cmdArg[cmdArgi++] = c;
+      break;
+    case 2 :
+      if (c == '\n') {
+        cmdArg2[cmdArg2i] = '\0';
+        parseSerialBuffer();
+        cmdState = 0;
+      }
+      else if (cmdArg2i < sizeof(cmdArg2) - 1)
+        cmdArg2[cmdArg2i++] = c;
+      break;
+  }
+}
+
+void parseSerialBuffer() {  // Parse serial data, handle all commands available over Serial
+
+  int32_t val = atol(cmdArg);
+  int32_t val2 = atol(cmdArg2);
+
+  // help= : Montre l'ensemble des commandes serial disponible     // USER ONLY
+  if (!strcmp(cmdOp, "help")) {
+    printSerialCommandsAvailable();
+  }
+  else if (!strcmp(cmdOp, "go")) {
+    Serial.println("go");
+    moveMotorsAsync();
+  }
+  else if (!strcmp(cmdOp, "goal")) {
+    printCmdValVal("goal", val, val2);
+    setGoal(val, val2);
+  }
+  else if (!strcmp(cmdOp, "maxspeed")) {
+    printCmdValVal("maxspeed", val, val2);
+    setMaxspeed(val, val2);
+  }
+  else if (!strcmp(cmdOp, "accel")) {
+    printCmdValVal("accel", val, val2);
+    setAccel(val, val2);
+  }
+  else if (!strcmp(cmdOp, "init")) {
+    Serial.println("init");
+    initSteppers();
+  }
+  else if (!strcmp(cmdOp, "codeur")) {
+    printCmdValVal("codeur", val, getCount(val));
+  }
+  else if (!strcmp(cmdOp, "codeurs")) {
+    for(uint8_t i=0; i < NBMOTORS; i++)
+      printCmdValVal("codeur", i, getCount(i));
+  }
+  else if (!strcmp(cmdOp, "rotate")) {
+    Serial.println("rotate");
+    rotateMotors();
+  }
+  else if (!strcmp(cmdOp, "override")) {
+    printCmdVal("override", val);
+    overrideSpeed(val);
+  } 
+  else if (!strcmp(cmdOp, "stop")) {
+    Serial.println("stop");
+    stopMotors();
+  } else {
+    Serial.println("Unknown => stop");
+    stopMotors();
+  }
+}
+
+void printCmdVal( String cmd, int32_t val) {
+  Serial.print(cmd);
+  Serial.print("=");
+  Serial.print(val);
+  Serial.print("\n");
+}
+
+void printCmdValVal( String cmd, int32_t val1, int32_t val2) {
+  Serial.print(cmd);
+  Serial.print("=");
+  Serial.print(val1);
+  Serial.print(" ");
+  Serial.print(val2);
+  Serial.print("\n");
+}

Position6400DUE24dataEnableNoJoeDriverAffiche_PositionMoteur/com.h

@@ -0,0 +1,14 @@
+#ifndef com_h
+#define com_h
+
+#define NBCHAR 20  // char size for text
+
+void initCom();
+void printSerialCommandsAvailable();
+bool readSerial();
+void addCharToSerialBuffer(char c);
+void parseSerialBuffer();
+void printCmdVal( String cmd, int32_t val);
+void printCmdValVal( String cmd, int32_t val1, int32_t val2);
+
+#endif