RoboBuggy

/**

 * Code relating to something I'm not sure yet

 * @author Audrey Yeoh (ayeoh)

 *

 */

#include <Arduino.h>

#include "xbee.h"

#define STEERING_CENTER 133

// holds the data read from the serial xbee

static char data;

// holds the message itself

static String message;

static int pingPong = 1;

static int startFound = 0;

static int midFound = 0;

static int endFound = 1;

static char intbuf[32];

static int steeringAngle = STEERING_CENTER;

static int brake = 0;

static int led;

void xbee_init(int ledPin){

  pinMode(ledPin, OUTPUT);

  led = ledPin;

}

// parses the data from the xbee serial

void parse(char data){

  switch(data){

    case 'A':

      startFound = 1;

      midFound = 0;

      endFound = 0;

      message = "";

      break;

    case 'B':

      startFound = 0;

      midFound = 1;

      endFound = 0;

      break;

    case 'C':

      startFound = 0;

      midFound = 0;

      endFound =1;

      break;

    default: // all other cases

      if (startFound){

        message = message + data;

      }else if (midFound){

        if (data == '1'){

          brake = 1;

        }else{

          brake = 0;

        }

        message.toCharArray(intbuf, sizeof(intbuf));

        steeringAngle = atoi(intbuf);

      }

      break;

  }

}

int getSteeringAngle(){

  return steeringAngle;

}

int getBrake(){

        return brake;

}

// flops an led everytime a message is received.

// Helps to debug whether messages are received

void debugMessage(){

  if (pingPong == 0){

    digitalWrite(led, LOW);

  }else{

    digitalWrite(led, HIGH);

  }

  pingPong = 1 - pingPong;

}