root / branches / encoders / code / behaviors / spline / master / master.c @ 1224
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#include <dragonfly_lib.h> |
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#include <wireless.h> |
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//#include <termios.h>
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#include <stdio.h> |
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//#include <unistd.h>
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#define GROUP 1 |
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#define MOTOR 0 |
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#define ENCODER 1 |
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#define SENDER 1 |
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#define RECEIVER 0 |
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unsigned char data[4]; |
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sentCount = 0;
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char position = 0; |
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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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if(type == ENCODER)
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{ |
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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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} |
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} |
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int main (void) { |
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dragonfly_init(ALL_ON); |
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wl_init(); |
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lcd_init(); |
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lcd_puts("STARTING");
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position = usb_getc(); |
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lcd_puts("position is ");
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lcd_puti(position); |
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if(position == SENDER)
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{ |
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//Read in from server
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lcd_puts("starting init");
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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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lcd_puts("Done with init\n");
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wl_send_global_packet(GROUP, MOTOR, data, 4, 0); |
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} |
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else
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{ |
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wl_register_packet_group(&packetHandler); |
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} |
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// lcd_clear_screen();
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while (1) { |
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if(position == SENDER)
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{ |
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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, MOTOR, data, 4, 0); |
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} |
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wl_do(); |
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} |
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} |
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