RoboBuggy

/**

 * Code relating to xbee

 *

 */

static int xbee_brake;

static int xbee_angle;

static int xbee_connected;

String message;

char intbuf[32];

int pingPong = 1;

int startfound = 0;

int midfound = 0;

int endfound = 1;

void xbee_init() {

}

void xbee_loop() {

  // receive and parse message from xbee

  if(Serial1.available() > 0) {

    timer = millis();

    // read message from xbee

    data = Serial1.read();

    // parse message data

    if (data == 'A') {

      startfound = 1;

      midfound = 0;

      endfound = 0;

      message = "";

    }

    else if (data == 'B') {

      startfound = 0;

      midfound = 1;

      endfound = 0;

    }

    else if (data == 'C') {

      startfound = 0;

      midfound = 0;

      endfound = 1;

    }

    else if (startfound) {

      message = message + data;

    }

    else if (midfound) {

      if(data == '1')

        brake = 1;

      else

        brake = 0;

      message.toCharArray(intbuf, sizeof(intbuf));

      steeringAngle = atoi(intbuf);

    }

    // flop external LED everytime message is recieved

    if ( pingPong == 0 ) {

      digitalWrite(4, LOW);

    }

    else {

      digitalWrite(4, HIGH);

    }

    pingPong = 1 - pingPong;

  } // end receive message

}