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激光雷達(dá)串口控制臺,Visual studio,用于掃地機(jī)器人的簡單避障程序

代碼片段和文件信息
????#include???
????#include???
????#include???
#include?
??????
????HANDLE?hComm;??
????OVERLAPPED?OverLapped;??
????COMSTAT?Comstat;??
????DWORD?dwCommEvents;??
??????
????bool?OpenPort();??//打開串口??
????bool?SetupDCB(int?rate_arg);??//設(shè)置DCB??
????bool?SetupTimeout(DWORD?ReadInterval?DWORD?ReadTotalMultiplier?DWORD??
????????ReadTotalConstant?DWORD?WriteTotalMultiplier?DWORD?WriteTotalConstant);???//設(shè)置超時??
????void?ReciveChar();???//接收字符??
????bool?WriteChar(char*?szWriteBuffer?DWORD?dwSend);??//發(fā)送字符??
??????
????bool?OpenPort()??
????{??
????????hComm?=?CreateFile(L“COM4“??
????????????GENERIC_READ?|?GENERIC_WRITE??
????????????0??
????????????0??
????????????OPEN_EXISTING??
????????????FILE_FLAG_OVERLAPPED??
????????????0);??
????????if?(hComm?==?INVALID_HANDLE_VALUE)??
????????????return?FALSE;??
????????else??
????????????return?true;??
????}??
??????
????bool?SetupDCB(int?rate_arg)??
????{??
????????DCB?dcb;??
????????memset(&dcb?0?sizeof(dcb));??
????????if?(!GetCommState(hComm?&dcb))//獲取當(dāng)前DCB配置??
????????{??
????????????return?FALSE;??
????????}??
????????dcb.DCBlength?=?sizeof(dcb);??
????????/*?----------?Serial?Port?Config?-------?*/??
????????dcb.BaudRate?=?9600;??
????????dcb.Parity?=?NOPARITY;??
????????dcb.fParity?=?0;??
????????dcb.StopBits?=?ONESTOPBIT;??
????????dcb.ByteSize?=?8;??
????????dcb.fOutxCtsFlow?=?0;??
????????dcb.fOutxDsrFlow?=?0;??
????????dcb.fDtrControl?=?DTR_CONTROL_DISABLE;??
????????dcb.fDsrSensitivity?=?0;??
????????dcb.fRtsControl?=?RTS_CONTROL_DISABLE;??
????????dcb.fOutX?=?0;??
????????dcb.fInX?=?0;??
????????dcb.fErrorChar?=?0;??
????????dcb.fBinary?=?1;??
????????dcb.fNull?=?0;??
????????dcb.fAbortonerror?=?0;??
????????dcb.wReserved?=?0;??
????????dcb.XonLim?=?2;??
????????dcb.XoffLim?=?4;??
????????dcb.XonChar?=?0x13;??
????????dcb.XoffChar?=?0x19;??
????????dcb.EvtChar?=?0;??
????????if?(!SetCommState(hComm?&dcb))??
????????{??
????????????return?false;??
????????}??
????????else??
????????????return?true;??
????}??
??????
????bool?SetupTimeout(DWORD?ReadInterval?DWORD?ReadTotalMultiplier?DWORD??
????????ReadTotalConstant?DWORD?WriteTotalMultiplier?DWORD?WriteTotalConstant)??
????{??
????????COMMTIMEOUTS?timeouts;??
????????timeouts.ReadIntervalTimeout?=?ReadInterval;??
????????timeouts.ReadTotalTimeoutConstant?=?ReadTotalConstant;??
????????timeouts.ReadTotalTimeoutMultiplier?=?ReadTotalMultiplier;??
????????timeouts.WriteTotalTimeoutConstant?=?WriteTotalConstant;??
????????timeouts.WriteTotalTimeoutMultiplier?=?WriteTotalMultiplier;??
????????if?(!SetCommTimeouts(hComm?&timeouts))??
????????{??
????????????return?false;??
????????}??
????????else??
????????????return?true;??
????}??
??????
????void?ReciveChar()??
????{??
????????bool?bRead?=?TRUE;??
????????bool?bResult?=?TRUE;??
????????DWORD?dwError?=?0;??
????????DWORD?BytesRead?=?0;??
????????u
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-03-18?23:36??激光雷達(dá)串口控制臺\
?????目錄???????????0??2018-04-28?16:34??激光雷達(dá)串口控制臺\ConsoleApplication1\
?????文件??????????14??2018-04-28?16:35??激光雷達(dá)串口控制臺\ConsoleApplication1\ConsoleApplication1.opensdf
?????文件????33095680??2018-03-27?23:50??激光雷達(dá)串口控制臺\ConsoleApplication1\ConsoleApplication1.sdf
?????文件?????????904??2018-03-18?23:36??激光雷達(dá)串口控制臺\ConsoleApplication1\ConsoleApplication1.sln
?????文件???????27648??2018-03-27?23:50??激光雷達(dá)串口控制臺\ConsoleApplication1\ConsoleApplication1.v11.suo
?????文件????????4018??2018-03-18?23:37??激光雷達(dá)串口控制臺\ConsoleApplication1\ConsoleApplication1.vcxproj
?????文件?????????941??2018-03-18?23:37??激光雷達(dá)串口控制臺\ConsoleApplication1\ConsoleApplication1.vcxproj.filters
?????目錄???????????0??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\
?????文件?????????566??2018-04-28?16:35??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\cl.command.1.tlog
?????文件???????23614??2018-04-28?16:35??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\CL.read.1.tlog
?????文件?????????184??2018-04-28?16:35??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\CL.write.1.tlog
?????文件???????70144??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\ConsoleApplication1.exe
?????文件??????456472??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\ConsoleApplication1.ilk
?????文件??????????84??2018-04-28?16:35??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\ConsoleApplication1.lastbuildstate
?????文件????????1936??2018-04-28?16:35??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\ConsoleApplication1.log
?????文件??????945152??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\ConsoleApplication1.pdb
?????文件???????????0??2018-04-28?16:35??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\ConsoleApplication1.unsuccessfulbuild
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件???????????2??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件????????1170??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件????????2226??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
?????文件?????????480??2018-03-21?13:44??激光雷達(dá)串口控制臺\ConsoleApplication1\Debug\li
............此處省略4個文件信息
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