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Revision 1222

Added by Rich Hong almost 15 years ago

server and master code sort of working

View differences:

branches/encoders/code/behaviors/spline/server/server.c
48 48 
///	while(1)
49 49 
//		write(serialFile, encoders, 1);
50 50 
	//Sending velocity as LS LD RS RD
51 
	int tempCount = 0;
52
51 53 
	while(1)
52 54 
	{
53 55 
		printf("SENDING DATA\n");
54 
		encoders[LS] = 170;
56 
		encoders[LS] = tempCount;
55 57 
		encoders[LD] = 1;
56 
		encoders[RS] = 170;
57 
		encoders[RD] = 1;
58 
		encoders[RS] = tempCount;
59 
		encoders[RD] = 0;
60 
		tempCount += 50;
58 61 
		int temp = 0;
59 62 
		int count = 0;
60 63 
		do
61 64 
		{
62 
//			tcflush(serialFile, TCIOFLUSH
65 
			tcflush(serialFile, TCIOFLUSH);
63 66 
			temp = write(serialFile, encoders + count, 1);
64 67 
			if(temp < 0)
65 68 
				perror("Write Error");
66 69 
			count += temp;
67 
//			tcflush(serialFile, TCIOFLUSH);
68 
			usleep(10000);
70 
			printf("sent: %d\n", count);
71 
			usleep(1000);
69 72 
		}while(count < 4);
70 73 
		count = 0;
71 74 
		printf("READING DATA\n");
branches/encoders/code/behaviors/spline/master/master.c
6 6 

  		




  7
  7
  
    
#define GROUP 1


  		




  8
  8
  
    
#define TYPE 0


  		




  
  9
  
    
#define ACK 1


  		




  9
  10
  
    

  		




  10
  11
  
    
unsigned char data[4];


  		




  11
  12
  
    

  		




  
  13
  
    
sentCount = 0;


  		




  
  14
  
    
char ack = 0;


  		




  
  15
  
    

  		




  12
  16
  
    
void packet_receive (char type, int source, unsigned char* packet, int length);


  		




  13
  17
  
    

  		




  14
  18
  
    
PacketGroupHandler packetHandler = {GROUP, 0, 0, &packet_receive, 0};


  		




  15
  19
  
    

  		




  16
  20
  
    
void packet_receive (char type, int source, unsigned char* packet, int length) {


  		




  17
  
  
    
	orb_set_color(YELLOW);


  		




  
  21
  
    
	//orb_set_color(YELLOW);


  		




  
  22
  
    
		


  		




  18
  23
  
    
	//send to server


  		




  
  24
  
    
	//lcd_clear_screen();


  		




  
  25
  
    
	//lcd_puts("Writing to server");


  		




  19
  26
  
    
	usb_putc(packet[0]);


  		




  
  27
  
    
	//lcd_puti(1);


  		




  20
  28
  
    
	usb_putc(packet[1]);


  		




  
  29
  
    
	//lcd_puti(2);


  		




  21
  30
  
    
	usb_putc(packet[2]);


  		




  
  31
  
    
	//lcd_puti(3);


  		




  22
  32
  
    
	usb_putc(packet[3]);


  		




  
  33
  
    
	//lcd_puti(4);


  		




  
  34
  
    
	//lcd_clear_screen();


  		




  
  35
  
    
	//lcd_puts("Reading from server");


  		




  23
  36
  
    

  		




  24
  37
  
    
	//Read in from server


  		




  25
  38
  
    
	data[0] = usb_getc(); 


  		




  26
  
  
    
	data[1] = usb_getc(); 


  		




  
  39
  
    
	//lcd_puti(1);


  		




  
  40
  
    
	data[1] = usb_getc();


  		




  
  41
  
    
	//lcd_puti(2);


  		




  27
  42
  
    
	data[2] = usb_getc();


  		




  
  43
  
    
	//lcd_puti(3);


  		




  28
  44
  
    
	data[3] = usb_getc();


  		




  
  45
  
    
	//lcd_puti(4);


  		




  29
  46
  
    
	  


  		




  
  47
  
    
	


  		




  30
  48
  
    
	wl_send_global_packet(GROUP, TYPE, data, 4, 0);


  		




  
  49
  
    
		


  		




  
  50
  
    
	//lcd_clear_screen();


  		




  
  51
  
    
	//lcd_puts("Sent ");


  		




  
  52
  
    
	//lcd_puti(sentCount);


  		




  
  53
  
    
	//sentCount++;


  		




  31
  54
  
    
	//orb_set_color(GREEN);


  		




  32
  55
  
    
}


  		




  33
  56
  
    

  		




  ......




  45
  68
  
    
  //      orb_set_color(YELLOW);	


  		




  46
  69
  
    
	//Read in from server


  		




  47
  70
  
    
//	delay_ms(1000);


  		




  48
  
  
    
//	data[0] = usb_getc(); 


  		




  
  71
  
    
	lcd_puts("starting init");


  		




  
  72
  
    
	data[0] = usb_getc(); 


  		




  49
  73
  
    
	//motor1_set(0,200);


  		




  50
  
  
    
//	data[1] = usb_getc();


  		




  
  74
  
    
	data[1] = usb_getc();


  		




  51
  75
  
    
	//motor2_set(0,200);


  		




  52
  
  
    
//	data[2] = usb_getc();


  		




  
  76
  
    
	data[2] = usb_getc();


  		




  53
  77
  
    
	//motor1_set(1,200);


  		




  54
  
  
    
//	data[3] = usb_getc();


  		




  
  78
  
    
	data[3] = usb_getc();


  		




  
  79
  
    
	


  		




  
  80
  
    
	lcd_puts("Done with init\n");


  		




  55
  81
  
    
	wl_register_packet_group(&packetHandler);


  		




  56
  82
  
    
	//motor2_set(1,200);


  		




  57
  83
  
    
	


  		




  58
  84
  
    
//	orb_set_color(PURPLE);


  		




  59
  85
  
    
	//packet_receive(TYPE, 0, data, 4);


  		




  
  86
  
    

  		




  60
  87
  
    
	wl_send_global_packet(GROUP, TYPE, data, 4, 0);


  		




  
  88
  
    
	


  		




  
  89
  
    
	lcd_clear_screen();


  		




  
  90
  
    
	lcd_puts("Sent first wireless Packet");


  		




  
  91
  
    
	sentCount++;


  		




  61
  92
  
    
//	orb_set_color(GREEN);


  		




  62
  93
  
    
  while (1) {


  		




  63
  94
  
    
	 // char vel[4] = {170, 0, 170, 1};


  		












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