Proxim RangeLAN2 7920 Manual de usuario descargar pdf (Pagina 43)

control variable. Using a string tokenizer function, the program converts the value of the

speed and direction variable to motor speed variable, the program then calls the motor

control function which places the appropriate output value on the BL2000 analog outputs

which is then converted to a pulse width by the PWM circuit for feeding to the motor

controllers.

2. GPS/Compass Update

The GPS/Compass co-statement queries the GPS and compass cards and then

forwards the received data to the JAVA application for display. The GPS and compass

cards provide a standard ASCII output that is routed to the "serial a" and "serial b" ports

on the BL2000. The costate waits until a socket is established before performing any

reading functions, which allows the function to be “sleeping” until called upon by the

user via the JAVA application. The function firsts flushes the buffers for the serial ports

and waits for the latest input from both the GPS and compass. The input strings are then

copied to a buffer variable and using the puts command sends that string to the JAVA

application and closes it’s sockets and begins to wait for another input.

The GPS data string is long and, as with the motor control string, needs to be

tokenized to parse out needed data from the string.

The string is formatted as follows:

@@Eq,mm,dd,yy,ss,dd,mm.mmmm,n,dd,mm.mmmm,w,shhhhh.h,sss.s,hhh.h,

m,t, dd.d,nn,rrrr,aa,CCC<CR><LF>.

• @@Eq >> Header

• mm,dd,yy,ss >> Time stamp

• dd,mm.mmmm >> Latitude

• n >> North or South

• dd,mm.mmmm >> Longitude

• w >> East or West

• shhhhh.h >> Height

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Proxim RangeLAN2 7920 Manual de usuario Pagina 43