robobuggy / arduino / xbee.ino @ 0c873a67
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/** |
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* Code relating to xbee |
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* |
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*/ |
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static int xbee_brake; |
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static int xbee_angle; |
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static int xbee_connected; |
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String message; |
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char intbuf[32]; |
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int pingPong = 1; |
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int startfound = 0; |
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int midfound = 0; |
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int endfound = 1; |
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void xbee_init() { |
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} |
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void xbee_loop() { |
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// receive and parse message from xbee |
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if(Serial1.available() > 0) { |
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timer = millis(); |
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// read message from xbee |
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data = Serial1.read(); |
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// parse message data |
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if (data == 'A') { |
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startfound = 1; |
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midfound = 0; |
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endfound = 0; |
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message = ""; |
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} |
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else if (data == 'B') { |
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startfound = 0; |
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midfound = 1; |
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endfound = 0; |
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} |
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else if (data == 'C') { |
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startfound = 0; |
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midfound = 0; |
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endfound = 1; |
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} |
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else if (startfound) { |
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message = message + data; |
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} |
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else if (midfound) { |
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if(data == '1') |
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brake = 1; |
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else |
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brake = 0; |
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message.toCharArray(intbuf, sizeof(intbuf)); |
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steeringAngle = atoi(intbuf); |
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} |
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// flop external LED everytime message is recieved |
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if ( pingPong == 0 ) { |
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digitalWrite(4, LOW); |
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} |
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else { |
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digitalWrite(4, HIGH); |
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} |
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pingPong = 1 - pingPong; |
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} // end receive message |
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} |