/ - Diff - RoboBuggy - Robotics Club

      The circuit:
      * RX is digital pin 2 (connect to TX of XBee)
      * TX is digital pin 3 (connect to RX of XBee)
      * changes made:
      * @author: Auds (ayeoh)
      */
-...
     #define BRAKE_PIN 8
     #define BRAKE_INDICATOR_PIN 5
     #define XBEE_LED_PIN 4
     #define SERVO_PIN 9
     #define STEERING_CENTER 133
     Servo myservo;  // create servo object to control a servo
     //SoftwareSerial xbee(2, 3); // RX, TX
     unsigned long timer = 0L;
     char data;
     String message;
     char intbuf[32];
     int brake = 0;
     int steeringAngle = STEERING_CENTER;
     int pingPong = 1;
     int startfound = 0;
     int midfound = 0;
     int endfound = 1;
     void setup()  {
       Serial.begin(9600);
       Serial1.begin(9600);
       pinMode(4, OUTPUT);
       xbee_init(XBEE_LED_PIN);
       // initialize the brake with brake pin and led brake pin
       brake_init(brakePin, brakeLedPin);
-...
         // 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);
+        }
         parse(data);
         // flop external LED everytime message is recieved
         if ( pingPong == 0 ) {
           digitalWrite(4, LOW);
+        }
         else {
           digitalWrite(4, HIGH);
+        }
         pingPong = 1 - pingPong;
         debugMessage();
       } // end receive message
       // brake if it has been greater than 3 seconds since we last got a message
       if( (millis() - timer) > 5000L ) {
         digitalWrite(8, 0);
         digitalWrite(5, HIGH);
         brake_drop();
         exit(1);
+      }
       /* Stuff I was told not to care about
       if((millis() - timer) > 2000L) {
         digitalWrite(12, HIGH);
+      }
       else {
         digitalWrite(12, LOW);
+      }
       }*/
       int brake = getBrake();
       // make brake LED light up if brakes should be down
       if( brake == 0 ) {
         digitalWrite(5, HIGH);
+      }
       else {
         digitalWrite(5, LOW);
         brake_drop();
       }else {
         brake_raise();
+      }
       // send parsed signal to brakes and servo
       digitalWrite(8, brake);
       // sets the servo position
       int steeringAngle = getSteeringAngle();
      s // sets the servo position
       myservo.write(steeringAngle);
+    }

     /**
      * Code relating to
      * Code relating to something I'm not sure yet
      * @author Audrey Yeoh (ayeoh)
+     *
      */
     #include <Arduino.h>
     #include "xbee.h"
     #define STEERING_CENTER 133
     // holds the data read from the serial xbee
     static char data;
     // holds the message itself
     static String message;
     static int pingPong = 1;
     static int startFound = 0;
     static int midFound = 0;
     static int endFound = 1;
     static char intbuf[32];
     static int steeringAngle = STEERING_CENTER;
     static int brake = 0;
     static int led;
     void xbee_init(int ledPin){
       pinMode(ledPin, OUTPUT);
       led = ledPin;
+    }
     // parses the data from the xbee serial
     void parse(char data){
       switch(data){
         case 'A':
           startFound = 1;
           midFound = 0;
           endFound = 0;
           message = "";
           break;
         case 'B':
           startFound = 0;
           midFound = 1;
           endFound = 0;
           break;
         case 'C':
           startFound = 0;
           midFound = 0;
           endFound =1;
           break;
         default: // all other cases
           if (startFound){
             message = message + data;
           }else if (midFound){
             if (data == '1'){
               brake = 1;
             }else{
               brake = 0;
+            }
             message.toCharArray(intbuf, sizeof(intbuf));
             steeringAngle = atoi(intbuf);
+          }
           break;
+      }
+    }
     int getSteeringAngle(){
       return steeringAngle;
+    }
     int getBrake(){
     	return brake;
+    }
     // flops an led everytime a message is received.
     // Helps to debug whether messages are received
     void debugMessage(){
       if (pingPong == 0){
         digitalWrite(led, LOW);
       }else{
         digitalWrite(led, HIGH);
+      }
       pingPong = 1 - pingPong;
+    }

     /**
      * Code relating to something I'm not sure yet
      * @author Audrey Yeoh (ayeoh)
+     *
      */
     #ifndef _XBEE_H_
     #define _XBEE_H_
     void xbee_init(int ledPin);
     void parse(char data);
     int getSteeringAngle();
     int getBrake();
     void debugMessage();
     #endif

ID	453e15321117615fb21e22e5e487ad41aaa3d5b6
Parent	0c873a67
Child	6331ce9f

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Revision 453e1532