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@carlosdelfino
Created July 17, 2012 20:20
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Ler da FastSerial o GPS e Barometer e do Pino 2 e 3 o Encoder a 2000Khz
FastSerialPort0(Serial);
FastSerialPort2(serialGPS);
FastSerialPort1(serialIMU);
Encoder encoder(2,3);
void loop(){
Serial.println(readGPS(true));
Serial.println(readIMU());
Serial.println(readEncoder());
delay(100);
}
String readGPS(boolean segunda){
return readLine(serialGPS, segunda);
}
String readIMU(){
String str = String("%delfino,3050,");
return str + readLine(serialIMU, false);
}
String readEncoder(){
long newPosition = encoder.read();
changePosition = newPosition != oldPosition;
if (changePosition) {
oldPosition = newPosition;
}
String str = String("%delfino,4050,");
str += oldPosition;
str += ",";
str += newPosition;
return str;
}
String readLine(FastSerial serial, boolean segunda){
String data;
char buffer1[0xFF] ;
char buffer2[0xFF] ;
int read1 = serial.readBytesUntil((char)0x0D,buffer1,0xFF)-1;
int read2;
if(segunda)read2 = serial.readBytesUntil((char)0x0D,buffer2,0xFF)-1;
for(int i = 0; i < read1; i++){
if(buffer1[i] == 0x0A)continue;
data += buffer1[i];
}
if(segunda){
data += "\r\n";
for(int j = 0; j < read2; j++){
if(buffer2[j] == 0x0A)continue;
data += buffer2[j];
}
}
return data;
}
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