Hello,
i have a problem of receiving a buffered data from AX12 servo motor.
I'm using processing in this project. i have succeed to send the data. and
make the motor move.
but the receiving part remain unsolved. here is my code
import ioio.lib.api.*;
import ioio.lib.api.exception.*;
import com.pinkhatproductions.pioio.*;
import java.io.*;
// for connection to pc host
static {
// leave commented out to auto-discover serial port (SLOW!)
//System.setProperty("ioio.SerialPorts", "/dev/tty.usbmodem1411");
}
char iPING =0x01; //obtain a status packet
char iREAD_DATA =0x02; //read Control Table values
char iWRITE_DATA =0x03; //write Control Table values
char iREG_WRITE =0x04; //write and wait for ACTION instruction
char iACTION =0x05; //triggers REG_WRITE instruction
char iRESET =0x06; //set factory defaults
char iSYNC_WRITE =0x83; //simultaneously control multiple actuators
char GOAL_POSITION_L=0x1E;
char PRESENT_POSITION_L=0x24;
char PRESENT_POSITION_H=0x25;
char PRESENT_SPEED_L=0x26;
char PRESENT_SPEED_H=0x27;
char PRESENT_LOAD_L=0x28;
char PRESENT_LOAD_H=0x29;
char LED=0x19;
char TORQUE_ENABLE=0x18;
char PRESENT_VOLTAGE=0x2A;
PIOIOManager ioioManager = new PIOIOManager(this);
Uart uart;
DigitalOutput led;
DigitalOutput DTR;
OutputStream out;
InputStream in;
BufferedReader bufrd;
char checksum=0;
char[] TxBuff = new char[16];
char[] reading = new char[16];
char packet_len;
void setup() {
size(800, 600);
ioioManager.start();
}
void draw() {
background(200);
fill(0);
textSize(28);
text(" ground motor value :" +reading, 10, height/2);
}
void mouseReleased() {
destroy();
}
void mousePressed() {
get_pos(char(6));
}
void destroy() {
led_torq(char(6));
}
void ioioSetup(IOIO ioio) throws ConnectionLostException {
uart = ioio.openUart(4, 6, 115200, Uart.Parity.NONE, Uart.StopBits.ONE);
led = ioio.openDigitalOutput(IOIO.LED_PIN, true);
DTR = ioio.openDigitalOutput(18, true);
in = uart.getInputStream();
out = uart.getOutputStream();
bufrd = new BufferedReader(new InputStreamReader(in));
}
void ioioLoop(IOIO ioio) throws ConnectionLostException {
led.write(false);
try {
Thread.sleep(20);
}
catch (InterruptedException e) {
}
}
void led_torq(char id){
try {
DTR.write(true);
try{
//clear checksum value
out.write(0xFF);
out.write(0xFF);
out.write(0x06);
out.write(0x05);
out.write(0x03);
out.write(0x18);
out.write(0x00);
out.write(0x01);
out.write(0xDD);
}
catch (IOException e){
}
}
catch (ConnectionLostException e) {
}
}
void get_pos (char id){
try {
DTR.write(true);
checksum=0; //clear checksum value
TxBuff[0] = 0xFF; //0xFF not included in checksum
TxBuff[1] = 0xFF;
TxBuff[2] = id;
checksum += TxBuff[2];
TxBuff[3] = char(4); // param_len +2
checksum +=
TxBuff[3];
TxBuff[4] = iREAD_DATA; // instruction
checksum += TxBuff[4];
TxBuff[5] = PRESENT_POSITION_L; //Control Starting Address
checksum += TxBuff[5];
TxBuff[6]=char(~checksum);
packet_len =char(7); //TxBuff[3] + 4 number of bytes for the
whole packet
try {
for(int i=0; i<packet_len;i++)
{
out.write(TxBuff[i]); //the library waits for transfer
complete, output.flush() is called
}
}
catch (IOException e){
}
delay(20);
DTR.write(false);
try {
int count = in.available();
println(" bytes = " + count);
if (count > 0){
// for(i=0; i<count;i++)
// {
bufrd.read(reading); //the library waits for transfer
complete, output.flush() is called
// }
}
}
catch (IOException e){
}
}
catch (ConnectionLostException e) {
}
}
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