robobuggy / arduino / RCbuggyMega / xbee.c @ 453e1532
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/**
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* Code relating to something I'm not sure yet
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* @author Audrey Yeoh (ayeoh)
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*
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*/
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#include <Arduino.h> |
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#include "xbee.h" |
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#define STEERING_CENTER 133 |
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// holds the data read from the serial xbee
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static char data; |
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// holds the message itself
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static String message;
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static int pingPong = 1; |
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static int startFound = 0; |
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static int midFound = 0; |
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static int endFound = 1; |
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static char intbuf[32]; |
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static int steeringAngle = STEERING_CENTER; |
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static int brake = 0; |
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static int led; |
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void xbee_init(int ledPin){ |
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pinMode(ledPin, OUTPUT); |
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led = ledPin; |
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} |
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// parses the data from the xbee serial
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void parse(char data){ |
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switch(data){
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case 'A': |
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startFound = 1;
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midFound = 0;
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endFound = 0;
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message = "";
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break;
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case 'B': |
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startFound = 0;
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midFound = 1;
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endFound = 0;
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break;
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case 'C': |
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startFound = 0;
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midFound = 0;
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endFound =1;
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break;
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default: // all other cases |
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if (startFound){
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message = message + data; |
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}else if (midFound){ |
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if (data == '1'){ |
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brake = 1;
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}else{
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brake = 0;
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} |
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message.toCharArray(intbuf, sizeof(intbuf));
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steeringAngle = atoi(intbuf); |
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} |
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break;
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} |
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} |
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int getSteeringAngle(){
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return steeringAngle;
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} |
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int getBrake(){
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return brake;
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} |
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// flops an led everytime a message is received.
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// Helps to debug whether messages are received
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void debugMessage(){
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if (pingPong == 0){ |
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digitalWrite(led, LOW); |
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}else{
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digitalWrite(led, HIGH); |
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} |
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pingPong = 1 - pingPong;
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} |