RoboBuggy

/*

  Makes Arduino receive input from xbee and parse data.

 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)

 */

//#include <SoftwareSerial.h>

#include <Servo.h>

#define BRAKE_PIN 8

#define BRAKE_INDICATOR_PIN 5

#define XBEE_LED_PIN 4

#define SERVO_PIN 9

Servo myservo;  // create servo object to control a servo

void setup()  {

  Serial.begin(9600);

  Serial1.begin(9600);

  xbee_init(XBEE_LED_PIN);

  // initialize the brake with brake pin and led brake pin

  brake_init(brakePin, brakeLedPin);

  myservo.attach(SERVO_PIN);  // attaches the servo on pin 9 to the servo object

  myservo.write(STEEING_CENTER);

}

void loop()  {

  // receive and parse message from xbee

  if(Serial1.available() > 0) {

    timer = millis();

    // read message from xbee

    data = Serial1.read();

    parse(data);

    // flop external LED everytime message is recieved

    debugMessage();

  } // end receive message

  // brake if it has been greater than 3 seconds since we last got a message

  if( (millis() - timer) > 5000L ) {

    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 ) {

    brake_drop();

  }else {

    brake_raise();

  }

  int steeringAngle = getSteeringAngle();

 s // sets the servo position

  myservo.write(steeringAngle);

}