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#include "rs232.h"
#include <stdio.h>
#include <ncurses.h>
int port; // port of the arduinov
typedef struct servo servo;
struct servo {
int Degree; // current degree
unsigned char ADegree; // actual degree
int Center; // center degree from calibration // difference from 90
int Limit; //limit, eg 0- 180
int Rate; // how many degrees to increase per time
char Header; // character that is sent
char Name[] ; // name
};
servo B_S = { 90,90,0,180,1,'B',"Base Servo" }; // base servo position
servo J_S = { 90,90,0,180,1,'J',"Joint Servo"}; // joint servo
servo A_S = { 90,90,0,180,1,'A',"Manipulator Assembly Servo"};// manipulator assembly servo
servo M_S = { 90,90,0,180,1,'J',"Manipulator Servo"}; // manipulator servo
int maxx;
int maxy;
int loop;
int change (servo rservo) {
}
int update ( servo *rservop,int increment) {
servo rservo = *rservop;
int err;
char tempstring [10]; // 10 byte buffer, sprintf should end with null
rservo.Degree =rservo.Degree + increment*rservo.Rate;
if (rservo.Degree + rservo.Center > rservo.Limit) {
rservo.Degree = rservo.Limit - rservo.Center;
mvprintw(maxy*3/4+1,0," %s at limit %d degrees",rservo.Name,rservo.Limit);
}
if (rservo.Degree + rservo.Center < 0) {
rservo.Degree = 0 - rservo.Center;
mvprintw(maxy*3/4,0," %s at limit %d degrees",rservo.Name,0);
}
rservo.ADegree = rservo.Degree + rservo.Center;
*rservop = rservo;
err = RS232_SendBuf(port,&(rservo.Header),1);
if (err) {
mvprintw(maxy*3/4,0,"unable to send header ");
return err;
}
err = RS232_SendBuf(port,&(rservo.ADegree),1);
if (err) {
mvprintw(maxy*3/4,0,"unable to send ADegree ");
return err;
} else {
mvprintw(maxy*3/4,0,"sent ADegree %d",rservo.ADegree);
}
//sprintf(tempstring,"%d",rservo.Degree);
//RS232_cputs(port,tempstring); // no error , returns void
return 0;
}
int startcomm (int rport) {
int err = RS232_OpenComport(rport ,9600,"8N1");
if (err) {
mvprintw(maxy/2,maxx/2,"couldn't open port %s",comports[port]);
return err;
}
mvprintw(maxy/2,maxx/2,"opened %s succesfully",comports[port]);
return 0;
}
int end () {
echo();
nocbreak();
endwin();
RS232_CloseComport(port);
}
int init () {
WINDOW *errw; // because initscr is only function
int err;
printf("initscr ...\n");
errw = initscr(); // present window called scr , returns *WINDOW, not int
if (errw == NULL) {
printf("initscr failed\n");
return 1;
}
maxx = getmaxx(stdscr);
maxy = getmaxy(stdscr);
cbreak(); // no need for enter
noecho(); // no display char
keypad(stdscr,TRUE); // allows f-keys
mvprintw(maxy/2,maxx/2,"%d %d",maxy,maxx); //w here is just to indicate curses
err = startcomm(port);
if (err) {
return err;
}
return 0;
}
int display() {
// y then x, top > bottom , left > right
char tempstring[40];
mvprintw(0,0,"port: %s",comports[port]);
mvprintw(1,0,"aparent angle | actual angle");
mvprintw(2,0,"base servo angle: %d | %u ",B_S.Degree,B_S.ADegree);
mvprintw(3,0,"joint servo angle: %u | %d ",J_S.Degree,(unsigned int)J_S.ADegree);
mvprintw(4,0,"manipulator assembly servo angle: %d | %u ",A_S.Degree,(unsigned int)A_S.ADegree);
mvprintw(5,0,"manipulator servo angle : %d | %u ",M_S.Degree,(unsigned int)M_S.ADegree);
return 0;
}
int setting() {
int rloop = 1;
int key;
int i = 0;
int v = port;
clear();
while (rloop) {
clear();
while (i < 38) {
if (i == v) {
mvprintw(i,maxx/2+5,"<--");
}
if (i == port) {
mvprintw(i,maxx/2-14,"[*] %s",comports[i]);
} else {
mvprintw(i,maxx/2-10,"%s",comports[i]);
}
i++;
}
mvprintw(38,0," s and d for the base servo, f to center\n w and e for joint servo r to center\n x and c for manipulator v to set\n i and k for up and down assembly servo o to center");
i = 0;
key = getch();
switch (key) {
case KEY_UP :
v--;
break;
case KEY_DOWN :
v++;
break;
case ' ' :
RS232_CloseComport(port);
port = v;
int err = startcomm(port);
rloop = 0;
clear();
return 0;
break;
case 'q' :
clear();
rloop = 0;
break;
}
if (v >= 38) {
v = 0;
}
if (v < 0) {
v = 37;
}
}
return 0;
}
int input() {
int err;
int key;
key = getch();
switch (key) {
case 'q':
mvprintw(maxy/2,maxx/2,"quitting",maxy,maxx);
loop = 0;
break;
case 's' :
update(&B_S,-1);
break;
case 'd' :
update(&B_S,+1);
break;
case 'f' :
B_S.Center = B_S.Degree - 90;
break;
case 'w' :
update(&J_S,-1);
break;
case 'e' :
update(&J_S,+1);
break;
case 'r' :
J_S.Center = J_S.Degree - 90;
break;
case 'x' :
update(&M_S,-1);
break;
case 'c' :
update(&M_S,+1);
break;
case 'v' :
M_S.Center = M_S.Degree - 90;
break;
case 'i' :
update(&A_S,-1);
break;
case 'k' :
update(&A_S,+1);
break;
case 'o' :
A_S.Center = A_S.Degree - 90;
break;
case 'p' :
setting();
break;
}
if (err) {
return err;
}
return 0;
}
int main () {
loop = 1;
init();
while (loop == 1) {
display();
input();
}
end();
}
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