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//
// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
// Copyright (C) 2011-2011 - DIGITEO - Bruno JOFRET
//
// This file must be used under the terms of the CeCILL.
// This source file is licensed as described in the file COPYING, which
// you should have received as part of this distribution. The terms
// are also available at
// http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
//
//
function block=ARDUINO_SERVO_READ_sim(block,flag)
global port_com arduino_sample_time;
function DEBUG(message)
disp("[DEBUG time = "+string(scicos_time())+"] {"+block.label+"} ARDUINO_ANALOG_READ Simulation: "+message);
endfunction
select flag
case -5 // Error
case 0 // Derivative State Update
case 1 // Output Update
// Envoi de la trame sur le port série : 3 pour un analog_READ et le num de pin (0 à ...)
pin="7"+ascii(96+block.rpar(1));
// writeserial(port_com,pin);
write_serial(1,pin,2);
values=[];
value=ascii(0);
while(value~=ascii(13)) then
// value=readserial(port_com,1);
value=read_serial(1,1);
values=values+value;
end
v=strsubst(values,string(ascii(10)),'')
v=strsubst(v,string(ascii(13)),'')
block.outptr(1)=evstr(v);
case 2 // State Update
case 3 // OutputEventTiming
//arduino_sample_time=0.01;
evout = block.evout(1);
if evout < 0
evout = arduino_sample_time;
else
evout = evout + arduino_sample_time;
end
block.evout(1) = evout;
case 4 // Initialization
disp("init servo read")
if block.rpar(1)==1 then //servo 1 on pin 10
pin="6a1"
// writeserial(port_com,pin);
write_serial(1,pin,3);
elseif block.rpar(1)==2 then //servo 2 on pin 9
pin="6b1"
// writeserial(port_com,pin);
write_serial(1,pin,3);
else
messagebox("Probleme dans le numero du servomoteur")
error('problem')
end
case 5 // Ending
case 6 // Re-Initialisation
case 9 // ZeroCrossing
else // Unknown flag
end
endfunction
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