Revision 453e1532
Updated the arduino code to integrate with brake and xbee code
arduino/RCbuggyMega/xbee.c | ||
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/** |
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* Code relating to |
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* Code relating to something I'm not sure yet |
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* @author Audrey Yeoh (ayeoh) |
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* |
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*/ |
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#include <Arduino.h> |
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#include "xbee.h" |
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#define STEERING_CENTER 133 |
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// holds the data read from the serial xbee |
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static char data; |
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// holds the message itself |
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static String message; |
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static int pingPong = 1; |
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static int startFound = 0; |
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static int midFound = 0; |
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static int endFound = 1; |
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static char intbuf[32]; |
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static int steeringAngle = STEERING_CENTER; |
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static int brake = 0; |
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static int led; |
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void xbee_init(int ledPin){ |
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pinMode(ledPin, OUTPUT); |
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led = ledPin; |
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} |
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// parses the data from the xbee serial |
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void parse(char data){ |
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switch(data){ |
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case '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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break; |
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case 'B': |
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startFound = 0; |
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midFound = 1; |
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endFound = 0; |
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break; |
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case 'C': |
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startFound = 0; |
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midFound = 0; |
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endFound =1; |
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break; |
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default: // all other cases |
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if (startFound){ |
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message = message + data; |
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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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} |
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message.toCharArray(intbuf, sizeof(intbuf)); |
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steeringAngle = atoi(intbuf); |
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} |
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break; |
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} |
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} |
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int getSteeringAngle(){ |
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return steeringAngle; |
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} |
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int getBrake(){ |
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return brake; |
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} |
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// flops an led everytime a message is received. |
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// Helps to debug whether messages are received |
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void debugMessage(){ |
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if (pingPong == 0){ |
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digitalWrite(led, LOW); |
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}else{ |
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digitalWrite(led, HIGH); |
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} |
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pingPong = 1 - pingPong; |
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} |
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