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FTSerial

Custom Arduino library for non-blocking serial reading. Use this on Rigby instead of Serial.readString() (which blocks your control loop).

Source: FT-Hardware/Code/Libraries/FTSerial/

Installation

  1. Copy FTSerial/ from FT-Hardware/Code/Libraries/FTSerial/ into ~/Arduino/libraries/
  2. Restart the Arduino IDE
  3. #include <FTSerial.h>

Quick Start

#include <FTSerial.h>

FTSerial ftSerial(Serial, 24); // serial port, buffer size in bytes

void setup() {
  Serial.begin(115200);
}

void loop() {
  float value;
  if (ftSerial.readFloat(value)) {
    // got a value
  }
  // control loop continues unblocked
}

Function

FTSerial(Stream &serial, byte bufferSize = 32)
Constructor. bufferSize should fit your longest expected message.

String readUntilNewline()
Returns the next \n-terminated line, or "" if not ready yet. Handles \r\n.

String readWithMarkers(char startMarker = '<', char endMarker = '>')
Returns content between markers (e.g. <steer,45.0>), or "" if not ready yet.

bool readFloat(float &result)
Reads a newline-terminated float. Returns true and sets result on success. Note: invalid strings parse as 0.0.