root / trunk / code / projects / colonet / robot / joystick / simple_slave / slave.c @ 866
History | View | Annotate | Download (1.14 KB)
1 | 687 | gtress | #include <dragonfly_lib.h> |
---|---|---|---|
2 | #include <wireless.h> |
||
3 | 866 | gtress | #include "../../../common/colonet_defs.h" |
4 | 687 | gtress | |
5 | |||
6 | |||
7 | int main (void) { |
||
8 | dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER); |
||
9 | ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
||
10 | xbee_init(); |
||
11 | orb_set_color(PURPLE); |
||
12 | |||
13 | char buf[100]; |
||
14 | char c;
|
||
15 | while (1) { |
||
16 | c = xbee_getc(); |
||
17 | orb_set_color(GREEN); |
||
18 | sprintf(buf, "got char: %c\n", c);
|
||
19 | usb_puts(buf); |
||
20 | |||
21 | if (c == 'f') { |
||
22 | orb_set_color(GREEN); |
||
23 | motor1_set(1, 250); |
||
24 | motor2_set(1, 250); |
||
25 | } |
||
26 | if (c == 'b') { |
||
27 | orb_set_color(BLUE); |
||
28 | motor1_set(0, 250); |
||
29 | motor2_set(0, 250); |
||
30 | } |
||
31 | if (c == 'l') { |
||
32 | orb_set_color(ORANGE); |
||
33 | motor1_set(0, 250); |
||
34 | motor2_set(1, 250); |
||
35 | } |
||
36 | if (c == 'r') { |
||
37 | orb_set_color(YELLOW); |
||
38 | motor1_set(1, 250); |
||
39 | motor2_set(0, 250); |
||
40 | } |
||
41 | if (c == 's') { |
||
42 | orb_set_color(RED); |
||
43 | motor1_set(0, 0); |
||
44 | motor2_set(0, 0); |
||
45 | } |
||
46 | if (c == 't') { |
||
47 | orb_set_color(PURPLE); |
||
48 | buzzer_chirp(1000, C5);
|
||
49 | } |
||
50 | if (c == 'u') { |
||
51 | orb_set_color(YELLOW); |
||
52 | buzzer_chirp(1000, A4);
|
||
53 | } |
||
54 | |||
55 | delay_ms(100);
|
||
56 | } |
||
57 | |||
58 | } |