Designing serial robot communication software

Other Hardware Robotics
7

How is this? Seems to work. :slight_smile:

[code]

// Example 5 - Receive with start- and end-markers combined with parsing

const byte numChars = 32;
char receivedChars[numChars];
char tempChars[numChars];        // temporary array for use when parsing

      // variables to hold the parsed data
int firstIntegerFromPC = 0;
int secondIntegerFromPC = 0;
// int floatFromPC = 0.0;

boolean newData = false;

// my servo addition

#include <Servo.h> 
Servo mys[20]; //Now we have 20 servos but only use 2-19 (ie 18 servos)

//

//============

void setup() {
    Serial.begin(9600);
    Serial.println("This demo expects 2 pieces of data - two integers");
    Serial.println("Enter data in this style <1, 180>  ");
    Serial.println();
    // my addition
      for(int i=2; i<20; i++)
{
   mys[i].attach(i); // was i+2
}
 // end my addition
}

//============

void loop() {
    recvWithStartEndMarkers();
    if (newData == true) {
        strcpy(tempChars, receivedChars);
            // this temporary copy is necessary to protect the original data
            //   because strtok() used in parseData() replaces the commas with \0
        parseData();
        showParsedData();
        servoMove();
        newData = false;
    }
}

//============

void recvWithStartEndMarkers() {
    static boolean recvInProgress = false;
    static byte ndx = 0;
    char startMarker = '<';
    char endMarker = '>';
    char rc;

    while (Serial.available() > 0 && newData == false) {
        rc = Serial.read();

        if (recvInProgress == true) {
            if (rc != endMarker) {
                receivedChars[ndx] = rc;
                ndx++;
                if (ndx >= numChars) {
                    ndx = numChars - 1;
                }
            }
            else {
                receivedChars[ndx] = '\0'; // terminate the string
                recvInProgress = false;
                ndx = 0;
                newData = true;
            }
        }

        else if (rc == startMarker) {
            recvInProgress = true;
        }
    }
}

//============

void parseData() {      // split the data into its parts

    char * strtokIndx; // this is used by strtok() as an index

    strtokIndx = strtok(tempChars,",");      // get the first part - the string
    // tim comments out strcpy(firstIntegerFromPC, strtokIndx); // copy it to firstIntegerFromPC
    firstIntegerFromPC = atoi(strtokIndx); // my addition convert first part to an integer
 
    strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
    secondIntegerFromPC = atoi(strtokIndx);     // convert this part to an integer

   // Tim comments out strtokIndx = strtok(NULL, ",");
  //  Tim comments out floatFromPC = atof(strtokIndx);     // convert this part to a float

}

//============

void showParsedData() {
    Serial.print("Servo Number ");
    Serial.println(firstIntegerFromPC);
    Serial.print("Degrees movement ");
    Serial.println(secondIntegerFromPC);
    // Serial.print("Float ");
   // Serial.println(floatFromPC);

}
void servoMove() {
   // start my addition
  mys[firstIntegerFromPC].write(secondIntegerFromPC); //write servo position 
   // end my addition
   }

[/code]