Revision 1218
Fixing Station/Robot communication
| main.c | ||
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#include "../common/comm_station_robot.h" |
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#include "../../../lib/include/libdragonfly/encoders.h" |
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// ********************** |
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// ** Command handlers ** |
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// ********************** |
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static void message_set_orbs (int length, uint8_t *data) |
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{
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if (length>=6) |
| ... | ... | |
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} |
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} |
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static void message_send_encoders (int length, uint8_t *data){
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int left = encoder_read(LEFT); |
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int right = encoder_read(RIGHT); |
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int vals[2]; |
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vals[0] = left; |
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vals[1] = right; |
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wl_send_global_packet (robot_station_group, robot_station_data_encoders, (char*)vals, 8, 0); |
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// ********************** |
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// ** Request handlers ** |
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// ********************** |
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static void message_send_encoders (int length, uint8_t *data) |
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{
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int16_t left, right; |
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SYNC |
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{
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left = encoder_read (LEFT); |
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right = encoder_read (RIGHT); |
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} |
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char senddata[4]; |
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senddata[0]=WORD_BYTE_0 (left); |
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senddata[1]=WORD_BYTE_1 (left); |
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senddata[2]=WORD_BYTE_0 (right); |
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senddata[3]=WORD_BYTE_1 (right); |
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wl_send_global_packet (robot_station_group, robot_station_data_encoders, senddata, 4, 0); |
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} |
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void station_robot_receive(char type, int source, unsigned char* packet, int length) |
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// *********************** |
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// ** Receive callbacks ** |
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// *********************** |
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// TODO: different group for commands and requests |
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static void station_robot_receive (char type, int source, unsigned char* packet, int length) |
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{
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// TODO why does it keep receiving 0 messages? |
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//if (type==0) return; |
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// Dump the raw packet |
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usb_puts ("Recvd [");
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for (uint8_t i=0; i<length; ++i) |
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{
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if (i!=0) usb_putc (' ');
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usb_puti (packet[i]); |
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} |
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usb_puts ("]\r\n");
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orb_set (0, 0, 255); |
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usb_puts ("Received a message: ");
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usb_puti (type); |
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usb_puts ("\r\n");
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switch (type) |
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{
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// Command messages |
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case station_robot_set_orbs: message_set_orbs (length, packet); break; |
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case station_robot_set_motors: message_set_motors (length, packet); break; |
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case station_robot_set_bom: message_set_bom (length, packet); break; |
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case station_robot_set_motors_off: message_set_motors_off (length, packet); break; |
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case station_robot_set_motors_time: message_set_motors_time (length, packet); break; |
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// Request messages |
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case station_robot_read_encoders: message_send_encoders (length, packet); break; |
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} |
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orb_set (255, 127, 0); |
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} |
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// ********** |
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// ** Main ** |
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// ********** |
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int main(void) {
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dragonfly_init(ALL_ON);
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dragonfly_init(0);
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encoders_init (); |
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usb_init (); |
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usb_puts ("Diagnostic station robot starting up\r\n");
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|
| ... | ... | |
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wl_init(); |
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orb2_set (255, 127, 0); |
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//usb_puts ("PAN ID: "); usb_puti (xbee_get_pan_id ()); usb_puts ("\r\n"); // -1
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//usb_puts ("Channel: "); usb_puti (xbee_get_channel ()); usb_puts ("\r\n"); // 0
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//usb_puts ("Address: "); usb_puti (xbee_get_address ()); usb_puts ("\r\n"); // 4/8
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usb_puts ("PAN ID: "); usb_puti (xbee_get_pan_id ()); usb_puts ("\r\n"); // -1
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usb_puts ("Channel: "); usb_puti (xbee_get_channel ()); usb_puts ("\r\n"); // 0
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usb_puts ("Address: "); usb_puti (xbee_get_address ()); usb_puts ("\r\n"); // 4/8
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PacketGroupHandler receive_handler = {station_robot_group, NULL, NULL, &station_robot_receive, NULL};
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wl_register_packet_group(&receive_handler); |
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