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Re: C++ programming iRobot Create
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C++ programming iRobot Create
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mircea
Visitor
Posts: 5
Registered: 12-05-2007
Message 1 of 4
Viewed 4,973 times
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hi! i tried to drive my irobot sending a script from c++. the robot behaves strange.... meaning, it starts only after i call several times the method for sending the script, and then it doesn't stop  . is there any rule regarding sending bytes to serial port? does the order differ? i wrote the code in c++ for windows. void CCreateRobot: rive(int distance, int velocity, int radius, bool backwards){ unsigned char *buffer = new unsigned char [15]; if (backwards){ distance = -distance; velocity = -velocity; } buffer[0] = 152; // script buffer[1] = 13; // script length buffer[2] = 137; // drive buffer[3] = (unsigned char) ((velocity & 0xFF00) >> 8); // velocity high buffer[4] = (unsigned char) (velocity & 0xFF); // velocity low buffer[5] = (unsigned char)((radius & 0xFF00) >> 8); // radius high buffer[6] = (unsigned char) (radius & 0xFF); // radius low buffer[7] = 156; buffer[8] = (unsigned char)((distance & 0xFF00) >> 8); // distance high buffer[9] = (unsigned char)(distance & 0xFF); // distance low buffer[10] = 137; buffer[11] = 0; buffer[12] = 0; buffer[13] = 0; buffer[14] = 0; if (SendBytes(buffer, sizeof(buffer))){ Sleep(200); buffer[0] = 153; SendBytes(buffer, 1); } delete [] buffer;} and the method for sending bytes: BOOL CCreateRobot::SendBytes(unsigned char * buffer, DWORD dwBytesToWrite){ if ((m_hPort == NULL) || (m_hPort == INVALID_HANDLE_VALUE)){ return false;} //HERE OVERLAPPED osWrite = {0}; DWORD dwWritten; DWORD dwRes; BOOL fRes; // Create this write operation's OVERLAPPED structure's hEvent. osWrite.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); if (osWrite.hEvent == NULL)// error creating overlapped event handle return FALSE;// Issue write. if (!WriteFile(m_hPort, buffer, dwBytesToWrite, &dwWritten, &osWrite)) { if (GetLastError() != ERROR_IO_PENDING) { // WriteFile failed, but isn't delayed. Report error and abort. fRes = FALSE; } else // Write is pending. dwRes = WaitForSingleObject(osWrite.hEvent, INFINITE); switch(dwRes){ // OVERLAPPED structure's event has been signaled. case WAIT_OBJECT_0: if (!GetOverlappedResult(m_hPort, &osWrite, &dwWritten, FALSE))fRes = FALSE; else // Write operation completed successfully. fRes = TRUE; break; default:// An error has occurred in WaitForSingleObject. // This usually indicates a problem with the // OVERLAPPED structure's event handle. fRes = FALSE; break;} } else // WriteFile completed immediately. fRes = TRUE; CloseHandle(osWrite.hEvent); return fRes;} any help would be appreciated.
http://mirceacimpoi.spaces.live.com
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04-13-2008 02:47 PM
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Re: C++ programming iRobot Create
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kipkills
Visitor
Posts: 5
Registered: 03-27-2008
Message 3 of 4
Viewed 4,946 times
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I think I am trying to do a similar thing on linux. I want to mimic the "Send Numbers" function that Realterm has, using my own c++ function. However even though the LED on the irobot's serial cable indicates that i am sending the commands, nothing happens. portName=open("/dev/ttyS0",O_RDWR | O_EXCL); char output[6];
output[0]=128; output[1]=132; output[2]=139;
output[3]=2; output[4]=0; output[5]=0;
write(portName, output, sizeof(output));
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04-14-2008 10:35 AM
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Re: C++ programming iRobot Create
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dankrusi
Contributor
Posts: 14
Registered: 03-16-2009
Message 4 of 4
Viewed 3,040 times
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This most definately sounds like your serial port is not being flushed quickly enough (the buffer is set too large). You can change this by calling the appropriate Windows API code (looks like you are using Windows). -dan
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03-16-2009 03:37 AM
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