root / trunk / code / projects / test / test_wireless.c @ 1427
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| 1 | /**
|
|---|---|
| 2 | * Instructions: |
| 3 | * - wait for both robots to show ORB 1 RED and ORB 2 GREEN |
| 4 | * - press BUTTON 1 on robot to send first (ROBOT 1) - orbs should turn PURPLE |
| 5 | * - press BUTTON 2 on robot to receive first (ROBOT 2) - orbs should turn ORANGE |
| 6 | * - wait at least a second, then press BUTTON 1 on both robots SIMULTANEOUSLY |
| 7 | * - ROBOT 2 orbs should cycle ORANGE to RED to BLUE |
| 8 | * - then ROBOT 1 orbs should cycle PURPLE to RED to BLUE |
| 9 | * - then orbs on both robots should turn GREEN |
| 10 | * - test will reset to ORB 1 RED and ORB 2 CYAN |
| 11 | * - test should take ~7 seconds |
| 12 | * |
| 13 | * Depends on: |
| 14 | * - Orbs (Lights) |
| 15 | * - Serial (for debugging) |
| 16 | **/ |
| 17 | |
| 18 | #include <dragonfly_lib.h> |
| 19 | #include <wl_basic.h> |
| 20 | |
| 21 | unsigned char* packet; |
| 22 | int length;
|
| 23 | |
| 24 | int testwireless(void) { |
| 25 | int count = 0; |
| 26 | int is_sender = 0; |
| 27 | |
| 28 | wl_basic_init_default(); |
| 29 | wl_set_channel(0x0E);
|
| 30 | |
| 31 | orb1_set_color(RED); |
| 32 | orb2_set_color(GREEN); |
| 33 | delay_ms(500);
|
| 34 | while (count < 1) { |
| 35 | if (button1_click()) {
|
| 36 | is_sender = 1;
|
| 37 | orb_set_color(PURPLE); |
| 38 | count++; |
| 39 | } |
| 40 | if (button2_click()) {
|
| 41 | is_sender = 0;
|
| 42 | orb_set_color(ORANGE); |
| 43 | count++; |
| 44 | } |
| 45 | } |
| 46 | count = 0;
|
| 47 | |
| 48 | delay_ms(1000);
|
| 49 | |
| 50 | button1_wait(); |
| 51 | |
| 52 | delay_ms(500);
|
| 53 | |
| 54 | if (is_sender == 1) { |
| 55 | delay_ms(1000);
|
| 56 | wl_basic_send_global_packet(1, "r", 2); |
| 57 | usb_puts("sent RED packet\r\n");
|
| 58 | delay_ms(1000);
|
| 59 | wl_basic_send_global_packet(1, "b", 2); |
| 60 | usb_puts("sent BLUE packet\r\n");
|
| 61 | while(count < 2) { |
| 62 | packet = wl_basic_do_default(&length); |
| 63 | if (packet != 0) { |
| 64 | if (length > 0) { |
| 65 | if (packet[0] == 'r') { |
| 66 | orb_set_color(RED); |
| 67 | usb_puts("received RED packet\r\n");
|
| 68 | count++; |
| 69 | } |
| 70 | else if (packet[0] == 'b') { |
| 71 | orb_set_color(BLUE); |
| 72 | usb_puts("received BLUE packet\r\n");
|
| 73 | count++; |
| 74 | } |
| 75 | } |
| 76 | } |
| 77 | } |
| 78 | } |
| 79 | else {
|
| 80 | while(count < 2) { |
| 81 | packet = wl_basic_do_default(&length); |
| 82 | if (packet != 0) { |
| 83 | if (length > 0) { |
| 84 | if (packet[0] == 'r') { |
| 85 | orb_set_color(RED); |
| 86 | usb_puts("received RED packet\r\n");
|
| 87 | count++; |
| 88 | } |
| 89 | else if (packet[0] == 'b') { |
| 90 | orb_set_color(BLUE); |
| 91 | usb_puts("received BLUE packet\r\n");
|
| 92 | count++; |
| 93 | } |
| 94 | } |
| 95 | } |
| 96 | } |
| 97 | delay_ms(1000);
|
| 98 | wl_basic_send_global_packet(1, "r", 2); |
| 99 | usb_puts("sent RED packet\r\n");
|
| 100 | delay_ms(1000);
|
| 101 | wl_basic_send_global_packet(1, "b", 2); |
| 102 | usb_puts("sent BLUE packet\r\n");
|
| 103 | } |
| 104 | delay_ms(1000);
|
| 105 | |
| 106 | wl_terminate(); |
| 107 | |
| 108 | orb_set_color(GREEN); |
| 109 | |
| 110 | delay_ms(2000);
|
| 111 | |
| 112 | return 0; |
| 113 | } |
| 114 |