public void processSerialData() {
byte[] inBuf = new byte[20];
switch (serial.read()) {
case 'A':
// wait for all data arrived
while (serial.available() < 16) {}
// read all data
serial.readBytes(inBuf);
Acc_RAW = (inBuf[1] << 8) + (inBuf[0] & 0xFF);
Gyro_RAW = (inBuf[3] << 8) + (inBuf[2] & 0xFF);
// int intbit = 0;
// intbit = (inBuf[7] << 24) | ((inBuf[6] & 0xFF) << 16) | ((inBuf[5] & 0xFF) << 8) |
// (inBuf[4] & 0xFF);
// Angle = Float.intBitsToFloat(intbit);
int AngleInt = (inBuf[5] << 8) + (inBuf[4] & 0xFF);
Angle = PApplet.parseFloat(AngleInt) / 10;
Acc_Angle = (inBuf[7] << 8) + (inBuf[6] & 0xFF);
Gyro_Rate = (inBuf[9] << 8) + (inBuf[8] & 0xff);
Drive = (inBuf[11] << 8) + (inBuf[10] & 0xFF);
statusFlag = (inBuf[13] << 8) + (inBuf[12] & 0xFF);
int BatLevelInt = (inBuf[15] << 8) + (inBuf[14] & 0xFF);
Steer = (inBuf[17] << 8) + (inBuf[16] & 0xFF);
BatLevel = PApplet.parseFloat(BatLevelInt) / 10;
println(
"Acc="
+ Acc_RAW
+ " Gyro="
+ Gyro_RAW
+ " Angle="
+ Angle
+ " Acc_Angle="
+ Acc_Angle
+ " Gyro_Rate="
+ Gyro_Rate
+ " Drive="
+ Drive
+ " Status="
+ statusFlag);
break;
case 'E':
// wait for all data arrived
while (serial.available() < 6) {}
// read all data
serial.readBytes(inBuf);
int P = (inBuf[1] << 8) + (inBuf[0] & 0xFF);
int I = (inBuf[3] << 8) + (inBuf[2] & 0xFF);
int D = (inBuf[5] << 8) + (inBuf[4] & 0xFF);
conf_KP.setValue(P);
conf_KI.setValue(I);
conf_KD.setValue(D);
println("P=" + P + " I=" + I + " D=" + D);
break;
}
serial.clear();
}
public void draw() {
background(0);
// Strings composition
textFont(createFont("Arial bold", 24));
fill(c_red);
stroke(255);
text("OpenWheels GUI V1.0", 20, 30);
textSize(16);
// textAlign(CENTER);
fill(c_azure);
text("Acc_RAW: " + Acc_RAW, 150, 65);
AccSlider.setValue(Acc_RAW);
text("Gyro_RAW: " + Gyro_RAW, 150, 90);
GyroSlider.setValue(Gyro_RAW);
text("Acc_Angle: " + Acc_Angle + "\u00b0", 150, 115);
text("Gyro_Rate: " + Gyro_Rate + "\u00b0/sec", 150, 140);
text("Drive: " + Drive, 150, 165);
text("Steer: " + Steer, 150, 190);
text("BatLevel: " + nf(BatLevel, 1, 1) + "V", 150, 215);
text("Status: " + statusFlag, 150, 240);
graphGauge();
graphGrid();
// call the function that plot the angular of acc, with few screen settings
graphRoll(PApplet.parseFloat(Acc_Angle), VideoBuffer2, c_red); // xPos, YPos, YSpan
// call the function that plot the estimate angular, with few screen settings
graphRoll(Angle, VideoBuffer1, c_yellow); // xPos, YPos, YSpan
// call arduino for data every timePolling [msec]
int timePolling = 50; // 50msec=20Hz
time1 = millis();
if (init_com == 1) {
while (serial.available() > 0) processSerialData();
if ((time1 - time2) > timePolling) {
if (requestPID == true) {
serial.write('E');
requestPID = false;
} else if (writePID == true) {
int P = PApplet.parseInt(conf_KP.value());
int I = PApplet.parseInt(conf_KI.value());
int D = PApplet.parseInt(conf_KD.value());
char data[] = {0, 0, 0, 0, 0};
data[0] = 'W';
data[1] = PApplet.parseChar(P);
data[2] = PApplet.parseChar(I);
data[3] = PApplet.parseChar(D);
data[4] = ' ';
String str = new String(data);
serial.write(str);
println(str);
// println(" P=" + P + " I=" + I + " D=" + D);
writePID = false;
}
// else if (RUN==true ) {serial.write('A');}
else {
serial.write('A');
}
time2 = time1;
}
}
}
public int[] getPacket() {
boolean gotAPacket = false; // whether the first byte was 0x7E
int packetLength = -1; // length of the dataArray
int[] thisdataArray = null; // the dataArray to return
int checksum = -1; // the checksum as received
int localChecksum = -1; // the chacksum as we calculate it
// read bytes until you get a 0x7E
port.clear(); // flush the buffer so that no old data comes in
while (port.available() < 1) {; // do nothing while we wait for the buffer to fill
}
// this is a good header. Get ready to read a packet
if (port.read() == 0x7E) {
gotAPacket = true;
}
// if the header byte is good, try the rest:
if (gotAPacket) {
// read two bytes
while (port.available() < 2) {; // wait until you get two bytes of length
}
int lengthMSB = port.read(); // high byte for length of packet
int lengthLSB = port.read(); // low byte for length of packet
// convert to length value
packetLength = (lengthLSB + (lengthMSB << 8));
// sanity check: if the packet is too long, bail.
if (packetLength > 200) {
System.out.println("Length (" + packetLength + ") too long, discarding packet.");
return null;
}
if (DEBUG) System.out.print("> [" + packetLength + "]: ");
// read bytes until you've reached the length
while (port.available() < packetLength) {; // do nothing while we wait for the buffer to fill
}
// make an array to hold the data frame:
thisdataArray = new int[packetLength];
// read all the bytes except the last one into the dataArray array:
for (int thisByte = 0; thisByte < packetLength; thisByte++) {
thisdataArray[thisByte] = port.read();
if (DEBUG) System.out.print(parent.hex(thisdataArray[thisByte], 2) + " ");
}
while (port.available() < 1) {; // do nothing while we wait for the buffer to fill
}
// get the checksum:
checksum = port.read();
// calculate the checksum of the received dataArray:
localChecksum = checkSum(thisdataArray);
// if they're not the same, we have bad data:
if (localChecksum != checksum) {
if (DEBUG) System.out.println();
System.out.print(
"Bad checksum, discarding packet. Local: " + parent.hex(localChecksum % 256));
System.out.println(", Remote: " + parent.hex(checksum) + ", Length: " + packetLength);
// if the checksums don't add up, clear the dataArray array:
thisdataArray = null;
}
}
// makes a nice printing for debugging:
if (DEBUG) System.out.println("!");
// return the data frame. If it's null, you got a bad packet.
return thisdataArray;
}