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Revision 1240

Added by Rich Hong almost 15 years ago

sending velocity instead of raw encoder values

View differences:

slave.c
21 21 

  		




  22
  22
  
    
char buf[32];


  		




  23
  23
  
    
int count = 0;


  		




  
  24
  
    
int left_dir = FORWARD;


  		




  
  25
  
    
int right_dir = FORWARD;


  		




  
  26
  
    
int left_speed = 0;


  		




  
  27
  
    
int right_speed = 0;


  		




  24
  28
  
    

  		




  25
  29
  
    
/* receive motor speed from master: 


  		




  26
  30
  
    
 * left_speed left_dir right_speed right_dir


  		




  ......




  30
  34
  
    
void packet_receive (char type, int source, unsigned char* packet, int length) {


  		




  31
  35
  
    
	if (type != MOTOR) return;


  		




  32
  36
  
    
	//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]);


  		




  
  37
  
    
	left_dir = packet[LD];


  		




  
  38
  
    
	left_speed = packet[LS];


  		




  
  39
  
    
	right_dir = packet[RD];


  		




  
  40
  
    
	right_speed = packet[RS];


  		




  
  41
  
    
	sprintf(buf, "Received: %d %d %d %d\n", packet[LS], packet[LD], packet[RS], packet[RD]);


  		




  35
  42
  
    
	usb_puts(buf);


  		




  36
  
  
    
	motor1_set(packet[LD],packet[LS]);


  		




  37
  
  
    
	motor2_set(packet[RD],packet[RS]);


  		




  
  43
  
    
	//motor1_set(packet[LD],packet[LS]);


  		




  
  44
  
    
	//motor2_set(packet[RD],packet[RS]);


  		




  38
  45
  
    
	//orb_set_color(GREEN);


  		




  39
  46
  
    
}


  		




  40
  47
  
    

  		




  ......




  48
  55
  
    

  		




  49
  56
  
    
	wl_register_packet_group(&packetHandler);


  		




  50
  57
  
    
	//orb_set_color(RED);


  		




  
  58
  
    
	//motor1_set(FORWARD,230);


  		




  
  59
  
    
	//motor2_set(FORWARD,230);


  		




  51
  60
  
    

  		




  52
  61
  
    
	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);


  		




  
  62
  
    
		int encoder_left = encoder_get_v(LEFT);


  		




  
  63
  
    
		int encoder_right = encoder_get_v(RIGHT);


  		




  59
  64
  
    
		unsigned char encoder[4];


  		




  60
  65
  
    
		encoder[H0] = (encoder_left >> 8) & 0xFF;


  		




  61
  66
  
    
		encoder[L0] = (encoder_left) & 0xFF;


  		




  62
  67
  
    
		encoder[H1] = (encoder_right >> 8) & 0xFF;


  		




  63
  68
  
    
		encoder[L1] = (encoder_right) & 0xFF;


  		




  64
  69
  
    
		wl_send_global_packet(GROUP, ENCODER, encoder, 4, 0);


  		




  65
  
  
    
		usb_puts("Sent ");


  		




  66
  
  
    
		usb_puti(count++);


  		




  67
  
  
    
		usb_puts("\n");


  		




  
  70
  
    
		sprintf(buf, "Sent (%d): %d %d\n", count++, encoder_left, encoder_right);


  		




  
  71
  
    
		usb_puts(buf);


  		




  68
  72
  
    

  		




  69
  
  
    
		delay_ms(10);


  		




  
  73
  
    
		wl_do();


  		




  
  74
  
    
		motor1_set(left_dir, left_speed);


  		




  
  75
  
    
		motor2_set(right_dir, right_speed);


  		




  
  76
  
    
		delay_ms(100);


  		




  70
  77
  
    
	}


  		




  71
  78
  
    
}


  		




  72
  79
  
    

  		












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