C++ (Cpp) SerialPort::WriteMessage Examples

Example #1

File: Main.cpp Project: hallonterror/Blue-Loris

int main()
{
	SerialPort sp;
	cout << sp.Connect("COM3") << endl;
	cout << sp.Setup() << endl;

	// Create a message
	RobotCommand msg;
	UnitStatus stat;
	SetStatus(stat, 0, 0, 0, 1, 1);

	// Write it to device

	while (1)
	{
		char c = getch();
		switch (c)
		{
		case 'w':
			SetMessage(msg, CMD_FORWARD, 50);	// Forward with 50/255 speed
			break;
		case 'a':
			SetMessage(msg, CMD_LEFT, 10);		// Left with 10/255 of max
			break;
		case 's':
			SetMessage(msg, CMD_BACKWARD, 20);	// Backward with 20/255
			break;
		case 'd':
			SetMessage(msg, CMD_RIGHT, 5);
			break;
		case 'q':
			SetMessage(msg, CMD_STOP, 0);		// Stop with no braking
		case 'e':
			SetMessage(msg, CMD_STOP, 255);	// Stop with full braking
			break;
		default:
			cout << "## Command not recognized ##" << endl << endl;
			continue;
		}
		cout << "Sending message: " << endl << "------------------------" << endl << msg << endl << endl;
		sp.WriteMessage(msg);

		cout << "Fetching robot status:" << endl << "------------------------" << endl;
		SetMessage(msg, CMD_GET_CURRENT_STATE);
		sp.WriteMessage(msg);

		int res = sp.ReadMessage(stat);
		if (res)
			cout << "Failed to read message: " << res << endl;
		else
			cout << stat << endl;
	}	

	sp.Close();
	cout << endl << "End" << endl;
	return 0;
}