sending data with processing

Core Library Questions

dvl121212

in Core Library Questions • 6 months ago

Hello, I am new with processing and I am having troubles making it do what i want. I have code to send signals for my robot to move forward, back, left, right and I also have a set of commands for switching on different mods: walking, swimming and switching. However, ones one of the modes is on it should send 1 continuously while the other two send 0 as if they are inactive. I managed to make it working to just send 1 when the button is pressed, but can not make it work continuously ones the button the pressed, it sends very delayed signals in a strange order. Here is my code for processing:

import processing.serial.*;
Serial myPort; // Create object from Serial class
int[] KeyArray = new int[7];
int PrtChose = 6; //number of the serial port, starts at 0
PFont f; //initailize a font
void setup() {
size(300, 400);
noStroke();
background(0);
f = loadFont("ComicSansMS-48.vlw"); //Load Font
textFont(f, 15); //Specify font type
print(Serial.list());
String[] Avail = Serial.list();
for(int i =0; i < Avail.length; i++)
{
text(Avail[i], 10, 20*i+90); //print text of avaliable serial ports to app
}
fill(0,255,0);
text(Avail[PrtChose], 10, 20*PrtChose+90); //highlite the port in use
String portName = Serial.list()[PrtChose];
myPort = new Serial(this, "/dev/cu.usbmodem621", 115200);
}
void draw()
{
String s = "Swimming";
fill(204, 102, 0);
text(s, 185, 12, 70, 80); // Text wraps within text box
String t = "Switching";
fill(204, 102, 0);
text(t, 185, 32, 70, 80); // Text wraps within text box
String u = "Walking";
fill(204, 102, 0);
text(u, 185, 52, 70, 80); // Text wraps within text box
//chnage colors of 7 ellipses according to what keys are pressed
if (KeyArray[0] == 1)
{
fill(0, 255, 0);
}
else
{
fill(255, 0, 0);
}
ellipse(100, 20, 10, 10); //fwd
if (KeyArray[1] == 1)
{
fill(0, 255, 0);
}
else
{
fill(255, 0, 0);
}
ellipse(100, 40, 10, 10); //bck
if (KeyArray[2] == 1)
{
fill(0, 255, 0);
}
else
{
fill(255, 0, 0);
}
ellipse(120, 40, 10, 10); //lft
if (KeyArray[3] == 1)
{
fill(0, 255, 0);
}
else
{
fill(255, 0, 0);
}
ellipse(80, 40, 10, 10); //rght
if (KeyArray[4] == 1)
{
fill(0, 255, 0);
ellipse(170, 20, 15, 15); //swimming
fill(255, 0, 0);
ellipse(170, 40, 15, 15); //switching
fill(255, 0, 0);
ellipse(170, 60, 15, 15); //walking
}
if (KeyArray[5] == 1)
{
fill(0, 255, 0);
ellipse(170, 40, 15, 15); //switching
fill(255, 0, 0);
ellipse(170, 20, 15, 15); //swimming
fill(255, 0, 0);
ellipse(170, 60, 15, 15); //walking
}
if (KeyArray[6] == 1)
{
fill(0, 255, 0);
ellipse(170, 60, 15, 15); //walking
fill(255, 0, 0);
ellipse(170, 40, 15, 15); //switching
fill(255, 0, 0);
ellipse(170, 20, 15, 15); //swimming
}
}
void keyReleased() //key released
{
if (key == 'w') //fwd, fwd has been let up, so set stop fwd message
{
KeyArray[0] = 0; //no longer pressed
}
if (key == 's') //down
{
KeyArray[1] = 0;
}
if (key == 'd') //right
{
KeyArray[2] = 0;
}
if (key == 'a') //left
{
KeyArray[3] = 0;
}
writeMsg(); //send updated state over serial
}
void keyPressed() //key pressed
{
if (key == 'w') //fwd
{
KeyArray[0] = 1; //fwd key pressed down, set forward command
}
if (key == 's') //down
{
KeyArray[1] = 1;
}
if (key == 'd') //right
{
KeyArray[2] = 1;
}
if (key == 'a') //left
{
KeyArray[3] = 1;
}
if (key == 'j') //swimm
{
KeyArray[4] = 1;
// KeyArray[5] = 0;
// KeyArray[6] = 0;
}
if (key == 'k') //switch
{
// KeyArray[4] = 0;
KeyArray[5] = 1;
// KeyArray[6] = 0;
}
if (key == 'l') //walk
{
// KeyArray[4] = 0;
// KeyArray[5] = 0;
KeyArray[6] = 1;
}
writeMsg();
}
void writeMsg()
{
//so both fwd/back, lft/rght dont activate at same time
if(KeyArray[0] == 1 && KeyArray[1] == 1)
{
KeyArray[0] = 0;
KeyArray[1] = 0;
}
if(KeyArray[2] == 1 && KeyArray[3] == 1)
{
KeyArray[2] = 0;
KeyArray[3] = 0;
}
if(KeyArray[4] == 1 && KeyArray[5] == 1 && KeyArray[6] == 1)
{
KeyArray[4] = 0;
KeyArray[5] = 0;
KeyArray[6] = 0;
}
if(KeyArray[4] == 1 && KeyArray[5] == 1)
{
KeyArray[4] = 0;
KeyArray[5] = 0;
}
if(KeyArray[5] == 1 && KeyArray[6] == 1)
{
KeyArray[5] = 0;
KeyArray[6] = 0;
}
if(KeyArray[4] == 1 && KeyArray[6] == 1)
{
KeyArray[4] = 0;
KeyArray[6] = 0;
}
//<0,0,0,0,0,0,0> <fwd,bck,rght,Lft,swimm,switch,walk>
myPort.write("<" + KeyArray[0] + "," + KeyArray[1] + "," + KeyArray[2] + "," + KeyArray[3] + "," + KeyArray[4] + "," + KeyArray[5] + "," + KeyArray[6] + ">"); //write to serial
println("<" + KeyArray[0] + "," + KeyArray[1] + "," + KeyArray[2] + "," + KeyArray[3] + "," + KeyArray[4] + "." + KeyArray[5] + "." + KeyArray[6] + ">"); //display in console
}

and for Arduino:

int started = 0;
char inData[10];
int ended = 0;
char index = 0;
int final = 0;
boolean Fwd = 0;
boolean Bck = 0;
boolean Rght = 0;
boolean Lft = 0;
boolean Swm = 0;
boolean Swtch = 0;
boolean Wlk = 0;
void setup()
{
Serial.begin(115200);
}
void loop()
{
GetBluData(); //input like: <0,0,0,0,0,0,0> then splits and writes values to F,B,R,L,Swm,Swtch,Wlk
Serial.print(Fwd);
Serial.print(",");
Serial.print(Bck);
Serial.print(",");
Serial.print(Rght);
Serial.print(",");
Serial.print(Lft);
Serial.print(",");
Serial.print(Swm);
Serial.print(",");
Serial.print(Swtch);
Serial.print(",");
Serial.print(Wlk);
Serial.print(",");
Serial.print(",");
Serial.println();
}
void GetBluData()
{
while(Serial.available() )
{
//finds < and >, the beginning and end of command
char aChar = Serial.read();
if(aChar == '<')
{
started = true;
index = 0;
inData[index] = '\0';
}
else if(aChar == '>')
{
ended = true;
}
else if(started)
{
inData[index] = aChar;
index++;
inData[index] = '\0';
}
else if (aChar =='*')
{
final = true;
}
}
if(started && ended)
{
const char* strDelimiter = ",";
char* p;
//<0,0,0,0,0,0,0,0>
//splits to individual ints
if ( p = strtok(inData, strDelimiter) )
{
Fwd = atoi(p);
}
if ( p = strtok(NULL, strDelimiter) )
{
Bck = atoi(p);
}
if ( p = strtok(NULL, strDelimiter) )
{
Rght = atoi(p);
}
if ( p = strtok(NULL, strDelimiter) )
{
Lft = atoi(p);
}
if ( p = strtok(NULL, strDelimiter) )
{
Swm = atoi(p);
}
if ( p = strtok(NULL, strDelimiter) )
{
Swtch = atoi(p);
}
if ( p = strtok(NULL, strDelimiter) )
{
Wlk = atoi(p);
}
// Get ready for the next time
started = false;
ended = false;
index = 0;
inData[index] = '\0';
}
}

Replies(1)

dvl121212

Re: sending data with processing

6 months ago

I just realised, that when I have more than 5 values in the string the code is not working properly. Perhaps, Arduino does not like more than a certain number of bits incoming in one string, however, I am not sure. Please help!

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