root / trunk / code / projects / diagnostic_station / robot / main.c @ 1218
History | View | Annotate | Download (3.36 KB)
| 1 | 1159 | deffi | #include <dragonfly_lib.h> |
|---|---|---|---|
| 2 | #include <wireless.h> |
||
| 3 | #include <xbee.h> |
||
| 4 | |||
| 5 | #include "../common/comm_station_robot.h" |
||
| 6 | 1193 | emullini | #include "../../../lib/include/libdragonfly/encoders.h" |
| 7 | 1159 | deffi | |
| 8 | 1218 | deffi | |
| 9 | // **********************
|
||
| 10 | // ** Command handlers **
|
||
| 11 | // **********************
|
||
| 12 | |||
| 13 | 1159 | deffi | static void message_set_orbs (int length, uint8_t *data) |
| 14 | {
|
||
| 15 | if (length>=6) |
||
| 16 | {
|
||
| 17 | orbs_set (data[0], data[1], data[2], data[3], data[4], data[5]); |
||
| 18 | } |
||
| 19 | } |
||
| 20 | |||
| 21 | static void message_set_motors (int length, uint8_t *data) |
||
| 22 | {
|
||
| 23 | if (length>=4) |
||
| 24 | {
|
||
| 25 | motor1_set (data[0], data[1]); |
||
| 26 | motor2_set (data[2], data[3]); |
||
| 27 | } |
||
| 28 | } |
||
| 29 | |||
| 30 | 1164 | deffi | static void message_set_motors_time (int length, uint8_t *data) |
| 31 | {
|
||
| 32 | if (length>=6) |
||
| 33 | {
|
||
| 34 | motor1_set (data[0], data[1]); |
||
| 35 | motor2_set (data[2], data[3]); |
||
| 36 | delay_ms (WORD(data[4], data[5])); |
||
| 37 | motors_off (); |
||
| 38 | } |
||
| 39 | } |
||
| 40 | |||
| 41 | static void message_set_motors_off (int length, uint8_t *data) |
||
| 42 | {
|
||
| 43 | motors_off (); |
||
| 44 | } |
||
| 45 | |||
| 46 | 1159 | deffi | static void message_set_bom (int length, uint8_t *data) |
| 47 | {
|
||
| 48 | if (length>=2) |
||
| 49 | {
|
||
| 50 | uint16_t bitmask=WORD(data[0], data[1]); |
||
| 51 | |||
| 52 | bom_set_leds (bitmask); |
||
| 53 | |||
| 54 | if (bitmask==0) |
||
| 55 | bom_off (); |
||
| 56 | else
|
||
| 57 | bom_on (); |
||
| 58 | } |
||
| 59 | } |
||
| 60 | |||
| 61 | 1218 | deffi | |
| 62 | // **********************
|
||
| 63 | // ** Request handlers **
|
||
| 64 | // **********************
|
||
| 65 | |||
| 66 | static void message_send_encoders (int length, uint8_t *data) |
||
| 67 | {
|
||
| 68 | int16_t left, right; |
||
| 69 | |||
| 70 | SYNC |
||
| 71 | {
|
||
| 72 | left = encoder_read (LEFT); |
||
| 73 | right = encoder_read (RIGHT); |
||
| 74 | } |
||
| 75 | |||
| 76 | char senddata[4]; |
||
| 77 | senddata[0]=WORD_BYTE_0 (left);
|
||
| 78 | senddata[1]=WORD_BYTE_1 (left);
|
||
| 79 | senddata[2]=WORD_BYTE_0 (right);
|
||
| 80 | senddata[3]=WORD_BYTE_1 (right);
|
||
| 81 | |||
| 82 | wl_send_global_packet (robot_station_group, robot_station_data_encoders, senddata, 4, 0); |
||
| 83 | 1193 | emullini | } |
| 84 | |||
| 85 | 1218 | deffi | |
| 86 | // ***********************
|
||
| 87 | // ** Receive callbacks **
|
||
| 88 | // ***********************
|
||
| 89 | |||
| 90 | // TODO: different group for commands and requests
|
||
| 91 | static void station_robot_receive (char type, int source, unsigned char* packet, int length) |
||
| 92 | 1159 | deffi | {
|
| 93 | 1218 | deffi | // TODO why does it keep receiving 0 messages?
|
| 94 | //if (type==0) return;
|
||
| 95 | |||
| 96 | // Dump the raw packet
|
||
| 97 | usb_puts ("Recvd [");
|
||
| 98 | for (uint8_t i=0; i<length; ++i) |
||
| 99 | {
|
||
| 100 | if (i!=0) usb_putc (' '); |
||
| 101 | usb_puti (packet[i]); |
||
| 102 | } |
||
| 103 | usb_puts ("]\r\n");
|
||
| 104 | |||
| 105 | |||
| 106 | |||
| 107 | orb_set (0, 0, 255); |
||
| 108 | |||
| 109 | usb_puts ("Received a message: ");
|
||
| 110 | usb_puti (type); |
||
| 111 | usb_puts ("\r\n");
|
||
| 112 | |||
| 113 | 1159 | deffi | switch (type)
|
| 114 | {
|
||
| 115 | 1218 | deffi | // Command messages
|
| 116 | 1164 | deffi | case station_robot_set_orbs: message_set_orbs (length, packet); break; |
| 117 | case station_robot_set_motors: message_set_motors (length, packet); break; |
||
| 118 | case station_robot_set_bom: message_set_bom (length, packet); break; |
||
| 119 | case station_robot_set_motors_off: message_set_motors_off (length, packet); break; |
||
| 120 | case station_robot_set_motors_time: message_set_motors_time (length, packet); break; |
||
| 121 | 1218 | deffi | |
| 122 | // Request messages
|
||
| 123 | 1198 | deffi | case station_robot_read_encoders: message_send_encoders (length, packet); break; |
| 124 | 1159 | deffi | } |
| 125 | 1218 | deffi | |
| 126 | orb_set (255, 127, 0); |
||
| 127 | 1159 | deffi | } |
| 128 | |||
| 129 | 1218 | deffi | // **********
|
| 130 | // ** Main **
|
||
| 131 | // **********
|
||
| 132 | 1159 | deffi | |
| 133 | int main(void) { |
||
| 134 | 1218 | deffi | dragonfly_init(0);
|
| 135 | 1159 | deffi | |
| 136 | 1218 | deffi | encoders_init (); |
| 137 | |||
| 138 | 1159 | deffi | usb_init (); |
| 139 | usb_puts ("Diagnostic station robot starting up\r\n");
|
||
| 140 | |||
| 141 | orb_init_pwm (); |
||
| 142 | xbee_init (); |
||
| 143 | |||
| 144 | orb1_set (255, 127, 0); |
||
| 145 | wl_init(); |
||
| 146 | orb2_set (255, 127, 0); |
||
| 147 | |||
| 148 | 1218 | deffi | usb_puts ("PAN ID: "); usb_puti (xbee_get_pan_id ()); usb_puts ("\r\n"); // -1 |
| 149 | usb_puts ("Channel: "); usb_puti (xbee_get_channel ()); usb_puts ("\r\n"); // 0 |
||
| 150 | usb_puts ("Address: "); usb_puti (xbee_get_address ()); usb_puts ("\r\n"); // 4/8 |
||
| 151 | 1159 | deffi | |
| 152 | PacketGroupHandler receive_handler = {station_robot_group, NULL, NULL, &station_robot_receive, NULL};
|
||
| 153 | wl_register_packet_group(&receive_handler); |
||
| 154 | |||
| 155 | while (1) |
||
| 156 | {
|
||
| 157 | wl_do(); |
||
| 158 | } |
||
| 159 | } |