robobuggy / arduino / xbee.ino @ master
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1 | 0c873a67 | msebek | /** |
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2 | * Code relating to xbee |
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3 | * |
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4 | */ |
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5 | |||
6 | static int xbee_brake; |
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7 | static int xbee_angle; |
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8 | static int xbee_connected; |
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9 | |||
10 | String message; |
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11 | char intbuf[32]; |
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12 | |||
13 | int pingPong = 1; |
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14 | int startfound = 0; |
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15 | int midfound = 0; |
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16 | int endfound = 1; |
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17 | |||
18 | void xbee_init() { |
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19 | |||
20 | |||
21 | } |
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22 | |||
23 | void xbee_loop() { |
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24 | // receive and parse message from xbee |
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25 | if(Serial1.available() > 0) { |
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26 | |||
27 | timer = millis(); |
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28 | |||
29 | // read message from xbee |
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30 | data = Serial1.read(); |
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31 | |||
32 | // parse message data |
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33 | if (data == 'A') { |
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34 | startfound = 1; |
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35 | midfound = 0; |
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36 | endfound = 0; |
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37 | message = ""; |
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38 | } |
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39 | else if (data == 'B') { |
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40 | startfound = 0; |
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41 | midfound = 1; |
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42 | endfound = 0; |
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43 | } |
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44 | else if (data == 'C') { |
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45 | startfound = 0; |
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46 | midfound = 0; |
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47 | endfound = 1; |
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48 | } |
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49 | else if (startfound) { |
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50 | message = message + data; |
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51 | } |
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52 | else if (midfound) { |
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53 | if(data == '1') |
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54 | brake = 1; |
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55 | else |
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56 | brake = 0; |
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57 | message.toCharArray(intbuf, sizeof(intbuf)); |
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58 | steeringAngle = atoi(intbuf); |
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59 | } |
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60 | |||
61 | // flop external LED everytime message is recieved |
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62 | if ( pingPong == 0 ) { |
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63 | digitalWrite(4, LOW); |
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64 | } |
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65 | else { |
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66 | digitalWrite(4, HIGH); |
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67 | } |
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68 | |||
69 | pingPong = 1 - pingPong; |
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70 | |||
71 | } // end receive message |
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72 | } |