scoutece / forklift / code / forklift.c @ a52b0259
History | View | Annotate | Download (1.22 KB)
1 |
/*
|
---|---|
2 |
* ARM -> us
|
3 |
* -height setpoint
|
4 |
*
|
5 |
* us -> ARM
|
6 |
* -tracking ID (same for all forklifts)
|
7 |
* -serial number (unique to each forklift)
|
8 |
* -current height
|
9 |
* -current height setpoint
|
10 |
* -payload weight
|
11 |
*
|
12 |
*/
|
13 |
|
14 |
#include "twi.h" |
15 |
|
16 |
#define TRACKING_ID 0x41 |
17 |
#define SERIAL_NUMBER 0x12 |
18 |
|
19 |
// indicies for forklift internal data
|
20 |
#define FORKLIFT_TRACKING_ID 0 |
21 |
#define FORKLIFT_SERIAL_NUMBER 1 |
22 |
#define FORKLIFT_HEIGHT 2 |
23 |
#define FORKLIFT_HEIGHT_SETPOINT 3 // only one that's r/w |
24 |
#define FORKLIFT_FORCE 4 |
25 |
|
26 |
#define FORKLIFT_DATA_LEN 5 |
27 |
|
28 |
uint8_t internal_index = 0;
|
29 |
uint8_t internal_data[] = { |
30 |
TRACKING_ID, |
31 |
SERIAL_NUMBER, |
32 |
0,
|
33 |
0,
|
34 |
0
|
35 |
}; |
36 |
|
37 |
void slave_rx(uint8_t* data, int len) |
38 |
{ |
39 |
if (len > 0 && data[0] < FORKLIFT_DATA_LEN) |
40 |
{ |
41 |
internal_index = data[0];
|
42 |
if (len > 1 && internal_index == FORKLIFT_HEIGHT_SETPOINT) |
43 |
internal_data[internal_index] = data[1];
|
44 |
} |
45 |
} |
46 |
|
47 |
void slave_tx(void) |
48 |
{ |
49 |
twi_transmit(&internal_data[internal_index], 1);
|
50 |
internal_index++; |
51 |
if (internal_index >= FORKLIFT_DATA_LEN)
|
52 |
internal_index = 0;
|
53 |
} |
54 |
|
55 |
int main()
|
56 |
{ |
57 |
twi_init(); |
58 |
twi_setAddress(TRACKING_ID); |
59 |
twi_attachSlaveRxEvent(slave_rx); |
60 |
twi_attachSlaveTxEvent(slave_tx); |
61 |
while (1) |
62 |
{ |
63 |
// do motor stuff
|
64 |
} |
65 |
return 0; |
66 |
} |