Commit f647aa6841c473b39b8e9a292871cc3239a744c9 - droidcopter

Added python script to communicate with the firmware Will Brown 11 years ago

2 changed file(s) with 91 addition(s) and 35 deletion(s). Raw diff Collapse all Expand all

+44

-0

firmware/commtest.py less more

	0	# file: rfcomm-client.py
	1	# auth: Albert Huang <albert@csail.mit.edu>
	2	# desc: simple demonstration of a client application that uses RFCOMM sockets
	3	# intended for use with rfcomm-server
	4	#
	5	# $Id: rfcomm-client.py 424 2006-08-24 03:35:54Z albert $
	6
	7	from bluetooth import *
	8	import sys
	9
	10	addr = None
	11
	12	if len(sys.argv) < 2:
	13	print "Searching via UUID"
	14	else:
	15	addr = sys.argv[1]
	16	print "Searching for %s" % addr
	17
	18	# search for the SampleServer service
	19	uuid = "00001101-0000-1000-8000-00805F9B34FB"
	20	service_matches = find_service( uuid = uuid, address = addr )
	21
	22	if len(service_matches) == 0:
	23	print "couldn't find the SampleServer service =("
	24	sys.exit(0)
	25
	26	first_match = service_matches[0]
	27	port = first_match["port"]
	28	name = first_match["name"]
	29	host = first_match["host"]
	30
	31	print "connecting to \"%s\" on %s" % (name, host)
	32
	33	# Create the client socket
	34	sock=BluetoothSocket( RFCOMM )
	35	sock.connect((host, port))
	36
	37	print "connected. type stuff"
	38	while True:
	39	data = raw_input()
	40	if len(data) == 0: break
	41	sock.send(data)
	42
	43	sock.close()

+47

-35

firmware/firmware.pde less more

0		#include <Messenger.h>
1
	0	#define BAD_REQUEST "BADREQUEST"
	1	#define HEARTBEAT_PULSE "PULSE"
	2	#define MESSAGE_TIMEOUT_CYCLES 100
	3	#define MOTOR_COUNT 4
	4	#define SPEED_HEADER "NEWSPEED"
2	5	#define STATUS_LED 13
3		#define MOTOR_COUNT 4
4	6	#define STATUS_LED_CYCLES 30000
5		#define DEBUG_RESPONSE 1
6
7		Messenger serial = Messenger();
8		unsigned int led_cycles = 0;
	7	#define WORD_BUFFER_LENGTH 4
	8	#define WORD_LENGTH 3
9	9
10	10	struct motor {
11	11	unsigned char pin;

16	16	struct motor motors[MOTOR_COUNT] = {
17	17	{6, 0, 0}, {9, 0, 0}, {10, 0, 0}, {11, 0, 0}
18	18	};
	19
	20	char buffer[WORD_BUFFER_LENGTH];
	21	unsigned int led_cycles = 0;
	22
19	23
20	24	/**
21	25	* Updates the speeds of the motors.

28	32	}
29	33
30	34	void print_speeds(void) {
31		Serial.print("New speeds: ");
	35	Serial.print(SPEED_HEADER);
32	36	for (int i = 0; i < MOTOR_COUNT; i++) {
	37	Serial.print(":"
	38	);
33	39	Serial.print(motors[i].current_speed);
34		Serial.print(' ');
35	40	}
36	41	Serial.println();
37		}
38
39		/**
40		* Handle a message from the controller. Sets the speeds then
41		* requests a speed update.
42		*/
43		void handle_message(void) {
44		for (int i = 0; i < MOTOR_COUNT; i++) {
45		if (! serial.available()) {
46		Serial.println("You didn't send me a correctly formatted message.");
47		#ifdef DEBUG_RESPONSE
48		print_speeds();
49		#endif
50		return;
51		} else {
52		motors[i].next_speed = serial.readInt() % 256;
53		}
54		}
55
56		write_speeds();
57		#ifdef DEBUG_RESPONSE
58		print_speeds();
59		#endif
60	42	}
61	43
62	44	/**

74	56
75	57	/* Initialize serial monitor. */
76	58	Serial.begin(115200);
77		serial.attach(handle_message);
78	59	}
79	60
80	61	/**
81	62	* Wait for serial information to come in.
82	63	*/
83	64	void loop(void) {
84		while (Serial.available() > 0) {
	65	if (Serial.available() >= WORD_LENGTH) {
	66	int i, j, timeout;
85	67	led_cycles = 0;
86	68	digitalWrite(STATUS_LED, HIGH);
87	69
88		serial.process(Serial.read());
	70	for (i=0; i<MOTOR_COUNT; i++) {
	71	for (timeout=0; timeout < MESSAGE_TIMEOUT_CYCLES; timeout++) {
	72	if (Serial.available() >= WORD_LENGTH) break;
	73	}
	74
	75	if (Serial.available() >= WORD_LENGTH) {
	76	for (j=0; j<WORD_LENGTH; j++) {
	77	buffer[j] = Serial.read();
	78	}
	79
	80	buffer[WORD_LENGTH] = '\0';
	81	motors[i].next_speed = atoi(buffer);
	82	} else {
	83	Serial.println(BAD_REQUEST);
	84	}
	85	}
	86
	87	/* Flush serial buffer after reading a line. */
	88	while (Serial.available()) {
	89	Serial.print("");
	90	Serial.read();
	91	}
	92
	93	write_speeds();
	94	print_speeds();
89	95	}
90	96
91	97	led_cycles++;
92	98	if (led_cycles >= STATUS_LED_CYCLES) {
93	99	digitalWrite(STATUS_LED, LOW);
94	100	}
	101
	102	if (led_cycles % 10000 == 0) {
	103	// Serial.println(HEARTBEAT_PULSE);
	104	}
	105
95	106	}
	107