root / trunk / code / projects / colonet / robot / joystick / keyboard_slave / slave.c @ 896
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#include <dragonfly_lib.h> |
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#include <wireless.h> |
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#include "../../../common/colonet_defs.h" |
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#define WL_CNTL_GROUP 4 |
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#define FORWARD 0 |
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#define BACK 1 |
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#define LEFT 2 |
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#define RIGHT 3 |
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#define LEFT_CURVE 4 |
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#define RIGHT_CURVE 5 |
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#define STOP 6 |
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#define VEL_UP 7 |
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#define VEL_DOWN 8 |
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int state;
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int velocity;
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char buf[100]; |
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void packet_receive (char type, int source, unsigned char* packet, int length); |
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void set_motion (void); |
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PacketGroupHandler packetHandler = {WL_CNTL_GROUP, NULL, NULL, &packet_receive, NULL}; |
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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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wl_set_channel(0xF);
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wl_register_packet_group(&packetHandler); |
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orb_enable(); |
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//orb_disable();
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//orb_set(255,255,255);
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orb_set_color(PURPLE); |
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//delay_ms(1000);
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//while(1);
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int xb_addr = xbee_get_address();
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sprintf(buf, "beginning: xbee addr=%d\n", xb_addr);
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usb_puts(buf); |
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velocity = 160;
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state = STOP; |
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while (1) { |
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wl_do(); |
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} |
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return 0; |
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} |
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void packet_receive (char type, int source, unsigned char* packet, int length) { |
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sprintf(buf, "received packet: %d\n", type);
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usb_puts(buf); |
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switch (type) {
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case FORWARD:
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state = FORWARD; |
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break;
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case BACK:
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state = BACK; |
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break;
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case LEFT:
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state = LEFT; |
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break;
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case RIGHT:
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state = RIGHT; |
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break;
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case LEFT_CURVE:
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state = LEFT_CURVE; |
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break;
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case RIGHT_CURVE:
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state = RIGHT_CURVE; |
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break;
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case STOP:
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state = STOP; |
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break;
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case VEL_UP:
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if (velocity > 250) |
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velocity = 250;
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else
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velocity += 5;
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break;
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case VEL_DOWN:
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velocity -= 5;
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if (velocity < 150) |
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velocity = 150;
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break;
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default:
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state = STOP; |
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break;
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} |
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set_motion(); |
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} |
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void set_motion (void) { |
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switch (state) {
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case FORWARD:
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orb_set_color(GREEN); |
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move(velocity, 0);
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break;
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case BACK:
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orb_set_color(BLUE); |
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move(-velocity, 0);
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break;
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case LEFT:
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orb_set_color(ORANGE); |
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motor1_set(0, velocity);
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motor2_set(1, velocity);
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break;
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case RIGHT:
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orb_set_color(YELLOW); |
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motor1_set(1, velocity);
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motor2_set(0, velocity);
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break;
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case LEFT_CURVE:
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orb_set_color(MAGENTA); |
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motor1_set(1, 150); |
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motor2_set(1, velocity);
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break;
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case RIGHT_CURVE:
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orb_set_color(CYAN); |
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motor1_set(1, velocity);
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motor2_set(1, 150); |
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break;
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case STOP:
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orb_set_color(RED); |
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move(0, 0); |
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break;
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} |
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} |
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