command载入到芯片中

arduino/head_file_test/main/Command.cpp

@@ -2,8 +2,8 @@
 
 void Command::run(char* str){
   for(int i=0; i < call_count; i++){
-        if(isSentinel(call_ids[i],str)){  // case :   call_ids = "T2"   str = "T215.15" 
-          call_list[i](str+strlen(call_ids[i]));  // get 15.15  input function 
+        if(isSentinel(call_ids[i],str)){  // case :   call_ids = "T2"   str = "T215.155" 
+          call_list[i](str+strlen(call_ids[i]));  // get 15.155  input function 
           break;
         }
       }

arduino/head_file_test/main/main.ino

@@ -1,11 +1,19 @@
 #include "Command.h"
-Command  command;//声明一个自己的该类的对象
+
+
+//命令设置
+float target_velocity = 0;
+Command  comm;//声明一个自己的该类的对象
+void doTarget(char* cmd) { comm.scalar(&target_velocity, cmd); }
+
 void setup() {
   // put your setup code here, to run once:
-
+  Serial.begin(115200);
+  comm.add("T",doTarget);
 }
 
 void loop() {
   // put your main code here, to run repeatedly:
-
+  comm.run("T233.2548");
+  Serial.println(target_velocity);
 }

arduino/main/main.ino

@@ -66,15 +66,19 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
 
 
 //命令设置
-Command command;
+Command comm;
 double target_velocity = 0;
 double target_angle = 91;
 double target_voltage = 0;
+void do_K1(char* cmd) { comm.scalar(&LQR_K1, cmd); }
+
 void onPacketCallBack(AsyncUDPPacket packet)
 {
   char* da;
   da= (char*)(packet.data());
   Serial.println(da);
+  comm.run(da);
+  Serial.println(LQR_K1);
 //  target_velocity = atoi();
 //  Serial.print("数据内容: ");
 //  Serial.println(target_velocity);
@@ -84,7 +88,8 @@ void onPacketCallBack(AsyncUDPPacket packet)
 // instantiate the commander
 void setup() {
    Serial.begin(115200);
-
+   //命令设置
+  comm.add("K1",do_K1);
 
     // kalman mpu6050 init
   Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
@@ -261,7 +266,7 @@ void loop() {
     }
       
 #endif
-#if 1
+#if 0
 
 Serial.print(kalAngleZ);Serial.print("\t");
 

python_gui/gui/udp_test1.py

@@ -16,7 +16,7 @@ def udp_recv(udp_socket):
         recv_data = udp_socket.recv(1024)
         recv_data = recv_data.decode('utf-8')
         udp_data = recv_data
-        print('收到信息为:%s'%recv_data)
+        # print('收到信息为:%s'%recv_data)
 
 def main():
     udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)   #创建套接字