Initial commit - test serial

SerialTest/src/main.cpp

@@ -0,0 +1,148 @@
+#include "main.h"
+#include "pros/serial.hpp"
+#include <bitset>
+
+#include <sstream>
+
+// extern "C" int32_t vexGenericSerialReceive( uint32_t index, uint8_t *buffer, int32_t length );
+// extern "C" void vexGenericSerialTransmit( uint32_t index, uint8_t *buffer, int32_t length );
+// extern "C" void vexGenericSerialWriteChar( uint32_t index, uint8_t chara );
+// extern "C" void vexGenericSerialFlush( uint32_t index);
+// extern "C" void vexGenericSerialEnable(  uint32_t index, uint32_t nu );
+// extern "C" void vexGenericSerialBaudrate(  uint32_t index, uint32_t rate );
+
+/**
+ * A callback function for LLEMU's center button.
+ *
+ * When this callback is fired, it will toggle line 2 of the LCD text between
+ * "I was pressed!" and nothing.
+ */
+
+#define SERIALPORT 11
+// Variable to put the gyro value into
+double gyroValue = 0;
+
+// code bleow here works! for recv
+// void serialRead(void* params) {
+    
+//     // Start serial on desired port
+//     vexGenericSerialEnable( SERIALPORT - 1, 0 );
+    
+//     // Set BAUD rate
+//     vexGenericSerialBaudrate( SERIALPORT - 1, 9600 );
+    
+//     // Let VEX OS configure port
+//     pros::delay(10);
+    
+//     // Serial message format:
+//     // D[LIDAR DIST]I[IR DATA]A[GYRO ANGLE]E
+//     // Example Message:
+//     // D50.2I128A12.32E
+    
+//     while (true) {
+        
+//         // Buffer to store serial data
+//         uint8_t buffer[256];
+//         int len = 256;
+//         uint8_t data[3];
+// 		data[0] = 2;
+// 		data[1] = 25;
+// 		data[2] = 44;
+//         // Get serial data
+// 		//vexGenericSerialTransmit(SERIALPORT - 1, data, 3);
+// 		vexGenericSerialWriteChar(SERIALPORT - 1, data[2]);
+// 		vexGenericSerialFlush(SERIALPORT - 1);
+// 		pros::delay(50);
+//         int32_t nRead = vexGenericSerialReceive(SERIALPORT - 1, buffer, len);
+//         pros::lcd::print(3,"%d", nRead);
+
+//         // Delay to let serial data arrive
+//         pros::delay(50);
+// 	}
+// }
+
+void on_center_button() {
+	static bool pressed = false;
+	pressed = !pressed;
+	if (pressed) {
+		pros::lcd::set_text(2, "I was pressed!");
+	} else {
+		pros::lcd::clear_line(2);
+	}
+}
+
+/**
+ * Runs initialization code. This occurs as soon as the program is started.
+ *
+ * All other competition modes are blocked by initialize; it is recommended
+ * to keep execution time for this mode under a few seconds.
+ */
+void initialize() {
+	pros::lcd::initialize();
+	pros::lcd::set_text(1, "Hello PROS User!");
+
+	pros::lcd::register_btn1_cb(on_center_button);
+}
+
+/**
+ * Runs while the robot is in the disabled state of Field Management System or
+ * the VEX Competition Switch, following either autonomous or opcontrol. When
+ * the robot is enabled, this task will exit.
+ */
+void disabled() {}
+
+/**
+ * Runs after initialize(), and before autonomous when connected to the Field
+ * Management System or the VEX Competition Switch. This is intended for
+ * competition-specific initialization routines, such as an autonomous selector
+ * on the LCD.
+ *
+ * This task will exit when the robot is enabled and autonomous or opcontrol
+ * starts.
+ */
+void competition_initialize() {}
+
+/**
+ * Runs the user autonomous code. This function will be started in its own task
+ * with the default priority and stack size whenever the robot is enabled via
+ * the Field Management System or the VEX Competition Switch in the autonomous
+ * mode. Alternatively, this function may be called in initialize or opcontrol
+ * for non-competition testing purposes.
+ *
+ * If the robot is disabled or communications is lost, the autonomous task
+ * will be stopped. Re-enabling the robot will restart the task, not re-start it
+ * from where it left off.
+ */
+void autonomous() {}
+
+/**
+ * Runs the operator control code. This function will be started in its own task
+ * with the default priority and stack size whenever the robot is enabled via
+ * the Field Management System or the VEX Competition Switch in the operator
+ * control mode.
+ *
+ * If no competition control is connected, this function will run immediately
+ * following initialize().
+ *
+ * If the robot is disabled or communications is lost, the
+ * operator control task will be stopped. Re-enabling the robot will restart the
+ * task, not resume it from where it left off.
+ */
+void opcontrol() {
+	pros::Controller master(pros::E_CONTROLLER_MASTER);
+	pros::Motor left_mtr(1);
+	pros::Motor right_mtr(2);
+	// Start serial task
+    //pros::Task gyroTask (serialRead);
+	pros::Serial mySerial(SERIALPORT, 9600);
+	mySerial.flush();
+	while (true) {
+		//pros::lcd::print(4,"%f", gyroValue);
+		while (mySerial.get_read_avail() == 0) {
+      		pros::delay(1);
+    	}
+		pros::lcd::print(3, "%x", std::bitset<32>(mySerial.read_byte()));
+        mySerial.write_byte(44);
+		pros::delay(20);
+	}
+}