Revision 1344
Final version of feedback controls project
| master.c | ||
|---|---|---|
| 6 | 6 |
|
| 7 | 7 |
#define GROUP 1 |
| 8 | 8 |
#define MOTOR 0 |
| 9 |
#define ENCODER 1 |
|
| 9 |
#define ENCODER 132
|
|
| 10 | 10 |
|
| 11 | 11 |
#define SENDER 1 |
| 12 | 12 |
#define RECEIVER 0 |
| 13 | 13 |
|
| 14 |
unsigned char data[4];
|
|
| 14 |
int id = -1;
|
|
| 15 | 15 |
|
| 16 |
char data[2]; |
|
| 17 |
|
|
| 16 | 18 |
sentCount = 0; |
| 17 | 19 |
char position = 0; |
| 18 | 20 |
|
| 19 |
void packet_receive (char type, int source, unsigned char* packet, int length);
|
|
| 21 |
void packet_receive (char type, int source, char* packet, int length); |
|
| 20 | 22 |
|
| 21 | 23 |
PacketGroupHandler packetHandler = {GROUP, 0, 0, &packet_receive, 0};
|
| 22 | 24 |
|
| 23 |
void packet_receive (char type, int source, unsigned char* packet, int length) {
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| 25 |
void packet_receive (char type, int source, char* packet, int length) {
|
|
| 24 | 26 |
|
| 25 | 27 |
if(type == ENCODER) |
| 26 |
{
|
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| 28 |
{
|
|
| 29 |
if(id == -1) |
|
| 30 |
id = source; |
|
| 31 |
if(source != id) |
|
| 32 |
motor1_set(1, 200); |
|
| 27 | 33 |
usb_putc(packet[0]); |
| 28 | 34 |
usb_putc(packet[1]); |
| 29 |
usb_putc(packet[2]); |
|
| 30 |
usb_putc(packet[3]); |
|
| 31 |
} |
|
| 35 |
// usb_putc(packet[2]);
|
|
| 36 |
// usb_putc(packet[3]);
|
|
| 37 |
}
|
|
| 32 | 38 |
|
| 33 | 39 |
} |
| 34 | 40 |
|
| ... | ... | |
| 49 | 55 |
lcd_puts("starting init");
|
| 50 | 56 |
data[0] = usb_getc(); |
| 51 | 57 |
data[1] = usb_getc(); |
| 52 |
data[2] = usb_getc(); |
|
| 53 |
data[3] = usb_getc(); |
|
| 58 |
//data[2] = usb_getc();
|
|
| 59 |
//data[3] = usb_getc();
|
|
| 54 | 60 |
|
| 55 | 61 |
lcd_puts("Done with init\n");
|
| 56 | 62 |
|
| 57 |
wl_send_global_packet(GROUP, MOTOR, data, 4, 0);
|
|
| 63 |
wl_send_global_packet(GROUP, MOTOR, data, 2, 0);
|
|
| 58 | 64 |
} |
| 59 | 65 |
else |
| 60 | 66 |
{
|
| ... | ... | |
| 67 | 73 |
{
|
| 68 | 74 |
data[0] = usb_getc(); |
| 69 | 75 |
data[1] = usb_getc(); |
| 70 |
data[2] = usb_getc(); |
|
| 71 |
data[3] = usb_getc(); |
|
| 72 |
wl_send_global_packet(GROUP, MOTOR, data, 4, 0);
|
|
| 73 |
} |
|
| 76 |
//data[2] = usb_getc();
|
|
| 77 |
//data[3] = usb_getc();
|
|
| 78 |
wl_send_global_packet(GROUP, MOTOR, data, 2, 0);
|
|
| 79 |
}
|
|
| 74 | 80 |
|
| 75 | 81 |
wl_do(); |
| 76 | 82 |
} |
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