root / branches / encoders / code / behaviors / spline / slave / slave.c @ 1223
History | View | Annotate | Download (1.62 KB)
1 |
#include <dragonfly_lib.h> |
---|---|
2 |
#include <wireless.h> |
3 |
|
4 |
#define GROUP 1 |
5 |
#define MOTOR 0 |
6 |
#define ENCODER 1 |
7 |
|
8 |
#define LS 0 |
9 |
#define LD 1 |
10 |
#define RS 2 |
11 |
#define RD 3 |
12 |
|
13 |
#define H0 0 |
14 |
#define L0 1 |
15 |
#define H1 2 |
16 |
#define L1 3 |
17 |
|
18 |
void packet_receive (char type, int source, unsigned char* packet, int length); |
19 |
|
20 |
PacketGroupHandler packetHandler = {GROUP, NULL, NULL, &packet_receive, NULL}; |
21 |
|
22 |
char buf[32]; |
23 |
int count = 0; |
24 |
|
25 |
/* receive motor speed from master:
|
26 |
* left_speed left_dir right_speed right_dir
|
27 |
* then sent raw encoder values back to master:
|
28 |
* high_left low_left high_right low_right
|
29 |
*/
|
30 |
void packet_receive (char type, int source, unsigned char* packet, int length) { |
31 |
if (type != MOTOR) return; |
32 |
//orb_set_color(WHITE);
|
33 |
usb_puts("receiving\n");
|
34 |
sprintf(buf, "%d %d %d %d\n", packet[LS], packet[LD], packet[RS], packet[RD]);
|
35 |
usb_puts(buf); |
36 |
motor1_set(packet[LD],packet[LS]); |
37 |
motor2_set(packet[RD],packet[RS]); |
38 |
//orb_set_color(GREEN);
|
39 |
} |
40 |
|
41 |
int main (void) { |
42 |
dragonfly_init(ALL_ON); |
43 |
usb_init(); |
44 |
encoders_init(); |
45 |
//usb_puts("xbee id ");
|
46 |
//usb_putc(wl_get_xbee_id());
|
47 |
wl_init(); |
48 |
|
49 |
wl_register_packet_group(&packetHandler); |
50 |
//orb_set_color(RED);
|
51 |
|
52 |
while (1) { |
53 |
wl_do(); |
54 |
|
55 |
int encoder_left = encoder_read(LEFT);
|
56 |
int encoder_right = encoder_read(RIGHT);
|
57 |
sprintf(buf, "%d %d\n", encoder_left, encoder_right);
|
58 |
usb_puts(buf); |
59 |
unsigned char encoder[4]; |
60 |
encoder[H0] = (encoder_left >> 8) & 0xFF; |
61 |
encoder[L0] = (encoder_left) & 0xFF;
|
62 |
encoder[H1] = (encoder_right >> 8) & 0xFF; |
63 |
encoder[L1] = (encoder_right) & 0xFF;
|
64 |
wl_send_global_packet(GROUP, ENCODER, encoder, 4, 0); |
65 |
usb_puts("Sent ");
|
66 |
usb_puti(count++); |
67 |
usb_puts("\n");
|
68 |
|
69 |
delay_ms(10);
|
70 |
} |
71 |
} |
72 |
|