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Revision 1216

Added by Rich Hong almost 15 years ago

spline server and master

View differences:

master.c
1 1 
#include <dragonfly_lib.h>
2 2 
#include <wireless.h>
3 
#include <termios.h>
3 
//#include <termios.h>
4 4 
#include <stdio.h>
5 
#include <unistd.h>
5 
//#include <unistd.h>
6 6 

  		




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#define GROUP 1


  		




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#define TYPE 0


  		




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unsigned char data[4];


  		




  
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void packet_receive (char type, int source, unsigned char* packet, int length);


  		




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PacketGroupHandler packetHandler = {GROUP, 0, 0, &packet_receive, 0};


  		




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void packet_receive (char type, int source, unsigned char* packet, int length) {


  		




  
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	orb_set_color(YELLOW);


  		




  
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	//send to server


  		




  
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	usb_putc(packet[0]);


  		




  
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	usb_putc(packet[1]);


  		




  
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	usb_putc(packet[2]);


  		




  
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	usb_putc(packet[3]);


  		




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	//Read in from server


  		




  
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	data[0] = usb_getc(); 


  		




  
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	data[1] = usb_getc(); 


  		




  
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	data[2] = usb_getc();


  		




  
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	data[3] = usb_getc();


  		




  
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	wl_send_global_packet(GROUP, TYPE, data, 4, 0);


  		




  
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	//orb_set_color(GREEN);


  		




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}


  		




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int main (void) {


  		




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  	dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER);


  		




  
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  	//dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER);


  		




  
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	dragonfly_init(ALL_ON);


  		




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	wl_init();


  		




  21
  
  
    
  


  		




  
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	lcd_init();


  		




  
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	lcd_puts("S");


  		




  
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//	orb_set_color(RED);


  		




  
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//  	wl_register_packet_group(&packetHandler);


  		




  
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  //      orb_set_color(YELLOW);	


  		




  
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	//Read in from server


  		




  
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//	delay_ms(1000);


  		




  
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//	data[0] = usb_getc(); 


  		




  
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	//motor1_set(0,200);


  		




  
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//	data[1] = usb_getc();


  		




  
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	//motor2_set(0,200);


  		




  
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//	data[2] = usb_getc();


  		




  
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	//motor1_set(1,200);


  		




  
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//	data[3] = usb_getc();


  		




  
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	wl_register_packet_group(&packetHandler);


  		




  
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	//motor2_set(1,200);


  		




  
  57
  
    
	


  		




  
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//	orb_set_color(PURPLE);


  		




  
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	//packet_receive(TYPE, 0, data, 4);


  		




  
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	wl_send_global_packet(GROUP, TYPE, data, 4, 0);


  		




  
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//	orb_set_color(GREEN);


  		




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  while (1) {


  		




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	  char vel[4] = {170, 0, 170, 1};


  		




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	  wl_send_global_packet(GROUP, TYPE, vel, 4, 0);	  


  		




  
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	 // char vel[4] = {170, 0, 170, 1};


  		




  
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	 // wl_send_global_packet(GROUP, TYPE, vel, 4, 0);	  


  		




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	  wl_do();


  		




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  }


  		




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