v1.3增加一个简单的越障模式

v1.3/lib/SCServo/SCSerial.cpp

@@ -0,0 +1,75 @@
+/*
+ * SCSerial.h
+ * 飞特串行舵机硬件接口层程序
+ * 日期: 2019.4.27
+ * 作者: 
+ */
+
+
+#include "SCSerial.h"
+
+SCSerial::SCSerial()
+{
+	IOTimeOut = 100;
+	pSerial = NULL;
+}
+
+SCSerial::SCSerial(u8 End):SCS(End)
+{
+	IOTimeOut = 100;
+	pSerial = NULL;
+}
+
+SCSerial::SCSerial(u8 End, u8 Level):SCS(End, Level)
+{
+	IOTimeOut = 100;
+	pSerial = NULL;
+}
+
+int SCSerial::readSCS(unsigned char *nDat, int nLen)
+{
+	int Size = 0;
+	int ComData;
+	unsigned long t_begin = millis();
+	unsigned long t_user;
+	while(1){
+		ComData = pSerial->read();
+		if(ComData!=-1){
+			if(nDat){
+				nDat[Size] = ComData;
+			}
+			Size++;
+			t_begin = millis();
+		}
+		if(Size>=nLen){
+			break;
+		}
+		t_user = millis() - t_begin;
+		if(t_user>IOTimeOut){
+			break;
+		}
+	}
+	return Size;
+}
+
+int SCSerial::writeSCS(unsigned char *nDat, int nLen)
+{
+	if(nDat==NULL){
+		return 0;
+	}
+	return pSerial->write(nDat, nLen);
+}
+
+int SCSerial::writeSCS(unsigned char bDat)
+{
+	return pSerial->write(&bDat, 1);
+}
+
+void SCSerial::rFlushSCS()
+{
+	while(pSerial->read()!=-1);
+}
+
+void SCSerial::wFlushSCS()
+{
+}