root / branches / encoders / code / behaviors / spline / master / master.c @ 1345
History | View | Annotate | Download (1.26 KB)
1 |
#include <dragonfly_lib.h> |
---|---|
2 |
#include <wireless.h> |
3 |
//#include <termios.h>
|
4 |
#include <stdio.h> |
5 |
//#include <unistd.h>
|
6 |
|
7 |
#define GROUP 1 |
8 |
#define MOTOR 0 |
9 |
#define ENCODER 132 |
10 |
|
11 |
#define SENDER 1 |
12 |
#define RECEIVER 0 |
13 |
|
14 |
int id = -1; |
15 |
|
16 |
char data[2]; |
17 |
|
18 |
sentCount = 0;
|
19 |
char position = 0; |
20 |
|
21 |
void packet_receive (char type, int source, char* packet, int length); |
22 |
|
23 |
PacketGroupHandler packetHandler = {GROUP, 0, 0, &packet_receive, 0}; |
24 |
|
25 |
void packet_receive (char type, int source, char* packet, int length) { |
26 |
if(type == ENCODER)
|
27 |
{ |
28 |
if(id == -1) |
29 |
id = source; |
30 |
if(source != id)
|
31 |
motor1_set(1, 200); |
32 |
usb_putc(packet[0]);
|
33 |
usb_putc(packet[1]);
|
34 |
} |
35 |
} |
36 |
|
37 |
int main (void) { |
38 |
|
39 |
dragonfly_init(ALL_ON); |
40 |
wl_init(); |
41 |
lcd_init(); |
42 |
|
43 |
lcd_puts("STARTING");
|
44 |
position = usb_getc(); |
45 |
lcd_puts("position is ");
|
46 |
lcd_puti(position); |
47 |
|
48 |
if(position == SENDER)
|
49 |
{ |
50 |
//Read in from server
|
51 |
lcd_puts("starting init");
|
52 |
data[0] = usb_getc();
|
53 |
data[1] = usb_getc();
|
54 |
|
55 |
lcd_puts("Done with init\n");
|
56 |
|
57 |
wl_send_global_packet(GROUP, MOTOR, data, 2, 0); |
58 |
} |
59 |
else
|
60 |
{ |
61 |
wl_register_packet_group(&packetHandler); |
62 |
} |
63 |
|
64 |
while (1) { |
65 |
if(position == SENDER)
|
66 |
{ |
67 |
data[0] = usb_getc();
|
68 |
data[1] = usb_getc();
|
69 |
wl_send_global_packet(GROUP, MOTOR, data, 2, 0); |
70 |
} |
71 |
|
72 |
wl_do(); |
73 |
} |
74 |
|
75 |
} |
76 |
|