scoutece / forklift / code / forklift.c @ 048ed7e1
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/*
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* ARM -> us
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* -height setpoint
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*
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* us -> ARM
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* -tracking ID (same for all forklifts)
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* -serial number (unique to each forklift)
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* -current height
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* -current height setpoint
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* -payload weight
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*
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*/
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#include "twi.h" |
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#include "analog.h" |
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#define TRACKING_ID 0x41 |
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#define SERIAL_NUMBER 0x12 |
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// indicies for forklift internal data
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#define FORKLIFT_TRACKING_ID 0 |
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#define FORKLIFT_SERIAL_NUMBER 1 |
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#define FORKLIFT_HEIGHT 2 |
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#define FORKLIFT_HEIGHT_SETPOINT 3 // only one that's r/w |
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#define FORKLIFT_LINEPOS 4 |
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#define FORKLIFT_DATA_LEN 5 |
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uint8_t internal_index = 0;
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uint8_t internal_data[] = { |
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TRACKING_ID, |
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SERIAL_NUMBER, |
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0,
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0,
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0
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}; |
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void slave_rx(uint8_t* data, int len) |
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{ |
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if (len > 0 && data[0] < FORKLIFT_DATA_LEN) |
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{ |
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internal_index = data[0];
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if (len > 1 && internal_index == FORKLIFT_HEIGHT_SETPOINT) |
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internal_data[internal_index] = data[1];
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} |
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} |
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void slave_tx(void) |
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{ |
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twi_transmit(&internal_data[internal_index], 1);
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internal_index++; |
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if (internal_index >= FORKLIFT_DATA_LEN)
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internal_index = 0;
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} |
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int main()
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{ |
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twi_init(); |
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twi_setAddress(TRACKING_ID); |
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twi_attachSlaveRxEvent(slave_rx); |
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twi_attachSlaveTxEvent(slave_tx); |
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analog_init(); |
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while (1) |
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{ |
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// do motor stuff
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internal_data[FORKLIFT_LINEPOS] = line_read_pos(); |
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internal_data[FORKLIFT_HEIGHT] = analog_read(ADC_HEIGHT); |
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} |
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return 0; |
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} |