/*
void* serial_interface(void* mParam) // serial port used for arduino connections & GPS.
{
LoadCell_SerialInterface* mFoot = (LoadCell_SerialInterface*) mParam;
static char app_name[12];
static char read_r[4];
static char no_write_w[4];
static char device_p[4];
static char read_[20];
static char no_write_[20];
static char device_[20];
sprintf(app_name, "./avisual");
sprintf(read_r, "-R");
sprintf(no_write_w, "-w");
sprintf(device_p, "-p");
sprintf(read_, "ascii");
sprintf(no_write_, "0");
//printf("mFoot=%p; left_foot=%p\n", mFoot, &left_foot);
if (mFoot == &left_foot) {
sprintf(device_, "/dev/ttyACM0");
mFoot->_cl_rx_dump = 1;
mFoot->_cl_rx_dump_ascii = 1;
mFoot->_cl_port = strdup("/dev/ttyACM0");
mFoot->_cl_tx_bytes = 0;
mFoot->left_foot = false;
} else {
mFoot->_cl_port = strdup("/dev/ttyACM1");
mFoot->_cl_rx_dump = 1;
mFoot->_cl_rx_dump_ascii = 1;
mFoot->_cl_tx_bytes = 0;
mFoot->left_foot = true;
//sprintf(device_, "/dev/ttyACM1");
}
char * argv[] = { app_name, read_r, read_, no_write_w, no_write_, device_p, device_ };
mFoot->serial_loadcell_main( 7, argv );
return NULL;
}
*/
void read_main_battery()
{
// mot.SetMainVoltages ( address, 100, 250 );
// mot.SetLogicVoltages( address, 100, 250 );
uint16_t volts1 = mot.ReadMainBatteryVoltage( 0x80 );
float volt = ((float)volts1)/10.;
printf("\nMain Battery board #1 = %6.1f volts\n", volt );
volts1 = mot.ReadLogicBatteryVoltage( 0x80 );
volt = ((float)volts1)/10.;
printf("\nLogic Battery board #1 = %6.1f volts\n", volts1 );
//mot.SetM1MaxCurrent(0x80, 20.0);
//mot.SetM2MaxCurrent(0x80, 20.0);
}
void CheckVoltages(void)
{
#ifdef AVS_PIN
uint16_t wVS = analogRead(AVS_PIN);
#ifdef DEBUG
if (g_fDebugOutput && (wVS != g_wVSPrev)) {
Serial.print("VS: ");
Serial.println(wVS, DEC);
g_wVSPrev = wVS;
}
#endif
if ((wVS < (uint16_t)AVAL_MIN) && g_fServosInit) {
// detach any servos we may have...
MSound( 3, 100, 2500, 100, 2500, 100, 2500);
}
#elif defined(PACKET_MODE)
// Using Roboclaw in packet mode, so we can ask it for the
// motor voltages... Note: This requires us to send and receive
// stuff serially, so probably only do this every so often.
if ((millis()-g_ulCVTimeLast) > 1000)
{
// more than a second since we last tested
uint16_t wVS = RClaw.ReadMainBatteryVoltage(PACKETS_ADDRESS);
#ifdef DEBUG
if (g_fDebugOutput && (wVS != g_wVSPrev)) {
Serial.print("VS: ");
Serial.println(wVS, DEC);
g_wVSPrev = wVS;
}
#endif
if ((wVS < (uint16_t)VOLTAGE_MIN1) && g_fServosInit) {
// detach any servos we may have...
MSound( 3, 100, 2500, 100, 2500, 100, 2500);
}
g_ulCVTimeLast = millis(); // remember last we did it.
}
#endif
}
