用ttl转485接在串口2上，设置波特率9600
预先修改/Applications/Arduino.app/Contents/Java/hardware/arduino/avr/cores里的
HardwareSerial.h
所有buffer都改成128，要大于64
void setup(){Serial.begin(9600);Serial2.begin(9600);delay(1000);}void loop(){GetEncoder();}long int GetEncoder() {int _i = 0; int _temp = 0; int _crc = 0;long int Rotate = 0;if (Serial1.available() > 0){if (int(Serial1.read()) == 171){//报头ABif ( (int(Serial1.read()) == 205) && (int(Serial1.read()) == 5))//报头CD和报长5{//Serial.println("data received!");int _recv[6];//接收缓存while (int(_temp) != 61){_temp = Serial1.read();_recv[_i] = _temp;//Serial.println(recv[i], HEX);//delay(2);_i++;}Serial1.flush(); _i = 0; _temp = 0; //重置//Serial.println("xor");_crc = (_recv[0] + _recv[1] + _recv[2] + _recv[3] + 5) & 0xff;if (int(_recv[4]) == _crc){long int _rotatenum = _recv[0]; _rotatenum <<= 8; _rotatenum |= _recv[1];long int _rotateangle = _recv[2]; _rotateangle <<= 8; _rotateangle |= _recv[3];Rotate = _rotatenum * 4096 + _rotateangle;//Serial.println(Rotate/100);return Rotate / 100;}//delay(10);}}}}
