updata mycobotservo.c

Author: wxy6655

Arduino/MycobotBasic/MycobotSaver.cpp

@@ -0,0 +1,126 @@
+#include "MycobotSaver.h"
+
+MycobotSaver::MycobotSaver()
+{
+
+}  
+
+
+void MycobotSaver::listDir(fs::FS &fs, const char * dirname, uint8_t levels){
+    Serial.printf("Listing directory: %s\r\n", dirname);
+
+    File root = fs.open(dirname);
+    if(!root){
+        Serial.println("- failed to open directory");
+        return;
+    }
+    if(!root.isDirectory()){
+        Serial.println(" - not a directory");
+        return;
+    }
+
+    File file = root.openNextFile();  //less 8 coloumns
+    while(file){
+        if(file.isDirectory()){
+            Serial.print("  DIR : ");
+            Serial.println(file.name());
+            if(levels){
+                listDir(fs, file.name(), levels -1);
+            }
+        } else {
+            Serial.print("  FILE: ");
+            Serial.print(file.name());
+            Serial.print("\tSIZE: ");
+            Serial.println(file.size());
+        }
+        file = root.openNextFile();
+    }
+}
+
+
+void MycobotSaver::writeFile(fs::FS &fs, const char * path, const char * message){
+    Serial.printf("Writing file: %s\r\n", path);
+
+    File file = fs.open(path, FILE_WRITE);
+    if(!file){
+        Serial.println("- failed to open file for writing");
+        return;
+    }
+    if(file.print(message)){
+        Serial.println("- file written");
+    } else {
+        Serial.println("- frite failed");
+    }
+}
+
+void MycobotSaver::appendFile(fs::FS &fs, const char * path, const char * message){
+
+    File file = fs.open(path, FILE_APPEND);
+    if(!file){
+        return;
+    }
+    file.print(message);
+}
+
+void MycobotSaver::deleteFile(fs::FS &fs, const char * path){
+    Serial.printf("Deleting file: %s\r\n", path);
+    if(fs.remove(path)){
+        Serial.println("- file deleted");
+    } else {
+        Serial.println("- delete failed");
+    }
+}
+
+void MycobotSaver::readFile(fs::FS &fs, const char * path){
+
+    File file = fs.open(path);
+    if(!file || file.isDirectory()){
+        Serial.println("- failed to open file for reading");
+        return;
+    }
+
+    String this_line = "";
+
+    while(file.available()){
+      char this_char = char(file.read());
+      this_line += this_char;
+      if (this_char == '\n')
+      {
+        saver_angles_enc jae_this;
+        jae_this = processStringIntoInts(this_line);
+
+        this_line = "";
+      }
+     
+    }
+
+}
+
+
+MycobotSaver::saver_angles_enc MycobotSaver::processStringIntoInts(String string_input)
+{
+  saver_angles_enc sae;
+  int data_index = 0;
+  String data_angle_string="";
+  for (int i = 0; string_input[i] != '\n'; i++) { 
+    
+    if(string_input[i] == ',')
+    {
+      if ((data_index < 6)&&(i>1)){
+        sae.joint_angle[data_index] = data_angle_string.toInt();
+      }
+      else
+      {
+        break;
+      }
+      data_angle_string = "";
+      data_index ++;
+      continue;
+    }
+    else
+    {
+      data_angle_string+=string_input[i];
+    }
+  }
+  return sae;
+}

Arduino/MycobotBasic/MycobotSaver.h

@@ -0,0 +1,36 @@
+#ifndef mycobotsaver_h
+#define mycobotsaver_h
+
+#include <Arduino.h>
+#include "FS.h"
+#include "SPIFFS.h"
+#define FORMAT_SPIFFS_IF_FAILED true
+
+#define FILENAME "/Angles.txt"
+
+
+class MycobotSaver
+{
+public:
+
+	MycobotSaver();
+
+	typedef struct{
+	  int joint_angle[6];
+	} saver_angles_enc;
+
+	void listDir(fs::FS &fs, const char * dirname, uint8_t levels);
+	void writeFile(fs::FS &fs, const char * path, const char * message);
+	void appendFile(fs::FS &fs, const char * path, const char * message);
+	void deleteFile(fs::FS &fs, const char * path);
+	void readFile(fs::FS &fs, const char * path);
+	saver_angles_enc processStringIntoInts(String string_input);
+
+
+private:
+
+
+};
+
+
+#endif

Arduino/MycobotBasic/examples/MainControl/MainControl.ino

@@ -1,4 +1,4 @@
-#include <MycobotBasic.h>
+9#include <MycobotBasic.h>
 
 MycobotBasic myCobot;