Merge pull request #92 from arduino-libraries/debug-print-recorded-values

Allow retrieval of captured angles in CSV format via Serial command.

Author: clodpheasant

Diff for: examples/Braccio_Record_and_Replay/AppState.cpp

@@ -137,6 +137,41 @@ State * IdleState::handle_OnZeroPosition()
   return new ZeroState();
 }
 
+State * IdleState::handle_OnTimerTick()
+{
+  /* If data has been recorded and a serial command is
+   * sent to the device then all recorded positions are
+   * sent to the PC.
+   */
+  if (!sample_cnt)
+    return this;
+
+  if (!Serial)
+    return this;
+
+  if (!Serial.available())
+    return this;
+
+  if (Serial.read() == 'r')
+  {
+    for (int i = 0; i < sample_cnt; i += 6)
+    {
+      char msg[64] = {0};
+      snprintf(msg, sizeof(msg), "%d;%0.2f;%0.2f;%0.2f;%0.2f;%0.2f;%0.2f;",
+               i / 6,
+               sample_buf[i + 0],
+               sample_buf[i + 1],
+               sample_buf[i + 2],
+               sample_buf[i + 3],
+               sample_buf[i + 4],
+               sample_buf[i + 5]);
+      Serial.println(msg);
+    }
+  }
+
+  return this;
+}
+
 /**************************************************************************************
  * RecordState
  **************************************************************************************/

Diff for: examples/Braccio_Record_and_Replay/AppState.h

@@ -70,6 +70,7 @@ class IdleState : public State
   virtual State * handle_OnRecord      () override;
   virtual State * handle_OnReplay      () override;
   virtual State * handle_OnZeroPosition() override;
+  virtual State * handle_OnTimerTick   () override;
 };
 
 class RecordState : public State

Diff for: examples/Braccio_Record_and_Replay/README.md

@@ -0,0 +1,12 @@
+`Braccio_Record_and_Replay`
+===========================
+For debug purposes all recorded angles can be received via serial command. The approach to do this is:
+* Start `minicom`.
+```bash
+minicom -D /dev/ttyACM0  -C angle_log.csv
+```
+* Press `Record` and record some angles.
+* Retrieve the recorded angles by sending `r` (Press `r`). You'll see the output on your console which will automagically be stored in the CSV file.
+* Close `minicom` with `Ctrl + A, Q`.
+
+![Video recording of command sequence](retrieve-angles.mp4)