root / trunk / code / projects / diagnostic_station / robot / main.c @ 1304
History | View | Annotate | Download (5.47 KB)
1 |
#include <dragonfly_lib.h> |
---|---|
2 |
#include <wireless.h> |
3 |
#include <xbee.h> |
4 |
|
5 |
#include "../common/comm_station_robot.h" |
6 |
#include "../../../lib/include/libdragonfly/encoders.h" |
7 |
|
8 |
|
9 |
// **********************
|
10 |
// ** Command handlers **
|
11 |
// **********************
|
12 |
|
13 |
static void message_set_orbs (int length, uint8_t *data) |
14 |
{ |
15 |
if (length>=6) |
16 |
{ |
17 |
orbs_set (data[0], data[1], data[2], data[3], data[4], data[5]); |
18 |
} |
19 |
} |
20 |
|
21 |
static void message_set_motors (int length, uint8_t *data) |
22 |
{ |
23 |
if (length>=4) |
24 |
{ |
25 |
motor1_set (data[0], data[1]); |
26 |
motor2_set (data[2], data[3]); |
27 |
} |
28 |
} |
29 |
|
30 |
static void message_set_motors_time (int length, uint8_t *data) |
31 |
{ |
32 |
if (length>=6) |
33 |
{ |
34 |
motor1_set (data[0], data[1]); |
35 |
motor2_set (data[2], data[3]); |
36 |
delay_ms (WORD(data[4], data[5])); |
37 |
motors_off (); |
38 |
} |
39 |
} |
40 |
|
41 |
static void message_set_motors_off (int length, uint8_t *data) |
42 |
{ |
43 |
motors_off (); |
44 |
} |
45 |
|
46 |
static void message_set_bom (int length, uint8_t *data) |
47 |
{ |
48 |
if (length>=2) |
49 |
{ |
50 |
uint16_t bitmask=WORD(data[0], data[1]); |
51 |
|
52 |
bom_set_leds (bitmask); |
53 |
|
54 |
if (bitmask==0) |
55 |
bom_off (); |
56 |
else
|
57 |
bom_on (); |
58 |
} |
59 |
} |
60 |
|
61 |
static void message_reset_encoders (int length, uint8_t *data) |
62 |
{ |
63 |
SYNC |
64 |
{ |
65 |
encoder_rst_dx (LEFT); |
66 |
encoder_rst_dx (RIGHT); |
67 |
} |
68 |
} |
69 |
|
70 |
// **********************
|
71 |
// ** Request handlers **
|
72 |
// **********************
|
73 |
|
74 |
static void message_read_encoders (int length, uint8_t *data) |
75 |
{ |
76 |
int16_t left, right; |
77 |
|
78 |
SYNC |
79 |
{ |
80 |
left = encoder_get_dx (LEFT); |
81 |
right = encoder_get_dx (RIGHT); |
82 |
} |
83 |
|
84 |
char senddata[4]; |
85 |
senddata[0]=WORD_BYTE_0 (left);
|
86 |
senddata[1]=WORD_BYTE_1 (left);
|
87 |
senddata[2]=WORD_BYTE_0 (right);
|
88 |
senddata[3]=WORD_BYTE_1 (right);
|
89 |
|
90 |
wl_send_global_packet (robot_station_group, robot_station_data_encoders, senddata, 4, 0); |
91 |
} |
92 |
|
93 |
static void message_read_rangefinder (int length, uint8_t *data) |
94 |
{ |
95 |
int16_t value; |
96 |
int rangefinder_id = 0; |
97 |
|
98 |
switch(*data)
|
99 |
{ |
100 |
case 0: rangefinder_id = IR1; break; |
101 |
case 1: rangefinder_id = IR2; break; |
102 |
case 2: rangefinder_id = IR3; break; |
103 |
case 3: rangefinder_id = IR4; break; |
104 |
case 4: rangefinder_id = IR5; break; |
105 |
} |
106 |
|
107 |
value = range_read_distance(rangefinder_id); |
108 |
|
109 |
char senddata[2]; |
110 |
senddata[0] = WORD_BYTE_0 (value);
|
111 |
senddata[1] = WORD_BYTE_1 (value);
|
112 |
|
113 |
wl_send_global_packet (robot_station_group, robot_station_data_rangefinder, senddata, 2, 0); |
114 |
|
115 |
} |
116 |
|
117 |
static void message_read_bom (int length, uint8_t *data){ |
118 |
int16_t value; |
119 |
bom_refresh(BOM_ALL); |
120 |
value = bom_get((*data)); |
121 |
char senddata[2]; |
122 |
senddata[0] = WORD_BYTE_0 (value);
|
123 |
senddata[1] = WORD_BYTE_1 (value);
|
124 |
|
125 |
wl_send_global_packet (robot_station_group, robot_station_data_bom, senddata, 2, 0); |
126 |
} |
127 |
|
128 |
static void message_read_bom_all(int length, uint8_t *data){ |
129 |
int16_t value; |
130 |
char senddata[32]; |
131 |
|
132 |
bom_refresh(BOM_ALL); |
133 |
|
134 |
for(uint8_t i=0; i<16; ++i){ |
135 |
value=bom_get(i); |
136 |
senddata[2*i ] = WORD_BYTE_0 (value);
|
137 |
senddata[2*i+1] = WORD_BYTE_1 (value); |
138 |
} |
139 |
|
140 |
wl_send_global_packet(robot_station_group, robot_station_data_bom_all, senddata, 32, 0); |
141 |
} |
142 |
|
143 |
static void message_read_eeprom(int length, uint8_t *data) |
144 |
{ |
145 |
char senddata[2]; |
146 |
senddata[0] = get_robotid();
|
147 |
senddata[1] = get_bom_type();
|
148 |
|
149 |
wl_send_global_packet (robot_station_group, robot_station_data_eeprom, senddata, 2, 0); |
150 |
} |
151 |
|
152 |
// ***************************
|
153 |
// ** Message acknowledging **
|
154 |
// ***************************
|
155 |
|
156 |
static void send_done (void) |
157 |
{ |
158 |
wl_send_global_packet (robot_station_group, robot_station_done, NULL, 0, 0); |
159 |
} |
160 |
|
161 |
// ***********************
|
162 |
// ** Receive callbacks **
|
163 |
// ***********************
|
164 |
|
165 |
static void station_robot_receive (char type, int source, unsigned char* packet, int length) |
166 |
{ |
167 |
orb_set (0, 0, 255); |
168 |
|
169 |
usb_puti (type); |
170 |
usb_puts (" [");
|
171 |
for (uint8_t i=0; i<length; ++i) |
172 |
{ |
173 |
if (i!=0) usb_putc (' '); |
174 |
usb_puti (packet[i]); |
175 |
} |
176 |
usb_puts ("]\r\n");
|
177 |
|
178 |
switch (type)
|
179 |
{ |
180 |
// Command messages
|
181 |
case station_robot_set_orbs: message_set_orbs (length, packet); send_done (); break; |
182 |
case station_robot_set_motors: message_set_motors (length, packet); send_done (); break; |
183 |
case station_robot_set_bom: message_set_bom (length, packet); send_done (); break; |
184 |
case station_robot_set_motors_off: message_set_motors_off (length, packet); send_done (); break; |
185 |
case station_robot_set_motors_time: message_set_motors_time (length, packet); send_done (); break; |
186 |
case station_robot_reset_encoders: message_reset_encoders (length, packet); send_done (); break; |
187 |
|
188 |
// Request messages
|
189 |
case station_robot_read_encoders: message_read_encoders (length, packet); break; |
190 |
case station_robot_read_rangefinder: message_read_rangefinder (length, packet); break; |
191 |
case station_robot_read_bom: message_read_bom (length, packet); break; |
192 |
case station_robot_read_bom_all: message_read_bom_all (length, packet); break; |
193 |
case station_robot_read_eeprom: message_read_eeprom(length, packet); break; |
194 |
} |
195 |
|
196 |
orb_set (255, 127, 0); |
197 |
} |
198 |
|
199 |
// **********
|
200 |
// ** Main **
|
201 |
// **********
|
202 |
|
203 |
int main(void) { |
204 |
dragonfly_init(ALL_ON); |
205 |
encoders_init (); |
206 |
|
207 |
analog_init (ADC_START); |
208 |
//bom_init ();
|
209 |
|
210 |
usb_init (); |
211 |
usb_puts ("Diagnostic station robot starting up\r\n");
|
212 |
|
213 |
orb1_set (255, 127, 0); |
214 |
xbee_init (); |
215 |
wl_init(); |
216 |
xbee_set_channel(15);
|
217 |
orb2_set (255, 127, 0); |
218 |
|
219 |
usb_puts ("PAN ID: "); usb_puti (xbee_get_pan_id ()); usb_puts ("\r\n"); // -1 |
220 |
usb_puts ("Channel: "); usb_puti (xbee_get_channel ()); usb_puts ("\r\n"); // 0 |
221 |
usb_puts ("Address: "); usb_puti (xbee_get_address ()); usb_puts ("\r\n"); // 4/8 |
222 |
|
223 |
PacketGroupHandler receive_handler = {station_robot_group, NULL, NULL, &station_robot_receive, NULL}; |
224 |
wl_register_packet_group(&receive_handler); |
225 |
|
226 |
while (1) |
227 |
{ |
228 |
wl_do(); |
229 |
} |
230 |
} |