Diff: main.cpp

Revision:

1:0471772dfce5

Parent:

0:ddc820578cb0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Dec 07 22:32:48 2015 +0000
@@ -0,0 +1,328 @@
+#include "mbed.h"
+#include "MRF24J40.h"
+
+#include <string>
+
+// RF tranceiver to link with handheld.
+MRF24J40 mrf(p11, p12, p13, p14, p21);
+InterruptIn in(p8);
+// LEDs you can treat these as variables (led2 = 1 will turn led2 on!)
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+// Timer
+Timer timer;
+Timer t1;
+// Serial port for showing RX data.
+Serial pc(USBTX, USBRX);
+
+// Used for sending and receiving
+char txBuffer[128];
+char rxBuffer[128];
+int rxLen;
+int t_period = 0;                   
+float t_freq = 0;
+
+//***************** Do not change these methods (please) *****************//
+
+/**
+* Receive data from the MRF24J40.
+*
+* @param data A pointer to a char array to hold the data
+* @param maxLength The max amount of data to read.
+*/
+int rf_receive(char *data, uint8_t maxLength)
+{
+    uint8_t len = mrf.Receive((uint8_t *)data, maxLength);
+    uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
+
+    if(len > 10) {
+        //Remove the header and footer of the message
+        for(uint8_t i = 0; i < len-2; i++) {
+            if(i<8) {
+                //Make sure our header is valid first
+                if(data[i] != header[i])
+                    return 0;
+            } else {
+                data[i-8] = data[i];
+            }
+        }
+
+        //pc.printf("Received: %s length:%d\r\n", data, ((int)len)-10);
+    }
+    return ((int)len)-10;
+}
+
+/**
+* Send data to another MRF24J40.
+*
+* @param data The string to send
+* @param maxLength The length of the data to send.
+*                  If you are sending a null-terminated string you can pass strlen(data)+1
+*/
+void rf_send(char *data, uint8_t len)
+{
+    //We need to prepend the message with a valid ZigBee header
+    uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
+    uint8_t *send_buf = (uint8_t *) malloc( sizeof(uint8_t) * (len+8) );
+
+    for(uint8_t i = 0; i < len+8; i++) {
+        //prepend the 8-byte header
+        send_buf[i] = (i<8) ? header[i] : data[i-8];
+    }
+    //pc.printf("Sent: %s\r\n", send_buf+8);
+
+    mrf.Send(send_buf, len+8);
+    free(send_buf);
+}
+void move_forward(){
+    //fill here
+    }
+void stop(){
+    //fill here
+    }
+void move_hv_transition_point_1(){
+    move_forward();
+    while (!(t_freq>=50 && t_freq<=150));
+    stop();
+    }
+void close_gate1(){
+    strcpy(txBuffer, "Close_Gate_1");
+    rf_send(txBuffer, strlen(txBuffer)+1);
+    pc.printf("Sent: %s\r\n", txBuffer);
+    while(true){
+        rxLen = rf_receive(rxBuffer, 128); 
+        if (rxLen>0){
+            pc.printf("Received: %s\r\n", rxBuffer);   
+            if(!strcmp("Gate_1_Closed", rxBuffer)) {
+                break;
+                }
+            } 
+        }
+    }
+void close_gate2(){
+    strcpy(txBuffer, "Close_Gate_2");
+    rf_send(txBuffer, strlen(txBuffer)+1);
+    pc.printf("Sent: %s\r\n", txBuffer);
+    while(true){
+        rxLen = rf_receive(rxBuffer, 128); 
+        if (rxLen>0){
+            pc.printf("Received: %s\r\n", rxBuffer);   
+            if(!strcmp("Gate_2_Closed", rxBuffer)) {
+                break;
+                }
+            } 
+        }
+    }
+void open_gate1(){
+    strcpy(txBuffer, "Open_Gate_1");
+    rf_send(txBuffer, strlen(txBuffer)+1);
+    pc.printf("Sent: %s\r\n", txBuffer);
+    while(true){
+        rxLen = rf_receive(rxBuffer, 128); 
+        if (rxLen>0){
+            pc.printf("Received: %s\r\n", rxBuffer);   
+            if(!strcmp("Gate_1_Opened", rxBuffer)) {
+                break;
+                }
+            } 
+        }
+    }
+void open_gate2(){
+    strcpy(txBuffer, "Open_Gate_2");
+    rf_send(txBuffer, strlen(txBuffer)+1);
+    pc.printf("Sent: %s\r\n", txBuffer);
+    while(true){
+        rxLen = rf_receive(rxBuffer, 128); 
+        if (rxLen>0){
+            pc.printf("Received: %s\r\n", rxBuffer);   
+            if(!strcmp("Gate_2_Opened", rxBuffer)) {
+                break;
+                }
+            } 
+        }
+    }
+void open_flap(){
+    strcpy(txBuffer, "Open_Flap");
+    rf_send(txBuffer, strlen(txBuffer)+1);
+    pc.printf("Sent: %s\r\n", txBuffer);
+    while(true){
+        rxLen = rf_receive(rxBuffer, 128); 
+        if (rxLen>0){
+            pc.printf("Received: %s\r\n", rxBuffer);   
+            if(!strcmp("Flap_Opened", rxBuffer)) {
+                break;
+                }
+            } 
+        }
+    }
+void close_flap(){
+    strcpy(txBuffer, "Close_Flap");
+    rf_send(txBuffer, strlen(txBuffer)+1);
+    pc.printf("Sent: %s\r\n", txBuffer);
+    while(true){
+        rxLen = rf_receive(rxBuffer, 128); 
+        if (rxLen>0){
+            pc.printf("Received: %s\r\n", rxBuffer);   
+            if(!strcmp("Flap_Closed", rxBuffer)) {
+                break;
+                }
+            } 
+        }
+    }
+void move_upto_first_level(){
+    move_forward();
+    while (!(t_freq>=200 && t_freq<=300));
+    stop();
+}
+void move_upto_second_level(){
+    move_forward();
+    while (!(t_freq>=450 && t_freq<=550));
+    stop();
+}
+void push(int floor){
+    //activate conveyor to push
+    if (floor==1){
+        strcpy(txBuffer, "Push_1");
+        }
+    else if (floor==2){
+        strcpy(txBuffer, "Push_2");
+        }
+    else if (floor==3){
+        strcpy(txBuffer, "Push_3");
+        }
+    else if (floor==4){
+        strcpy(txBuffer, "Push_4");
+        }
+    rf_send(txBuffer, strlen(txBuffer)+1);
+    pc.printf("Sent: %s\r\n", txBuffer);
+    //stop conveyor after waiting sufficient time
+    }
+void pull(int floor){
+    //activate conveyor to pull
+    if (floor==1){
+        strcpy(txBuffer, "Pull_1");
+        }
+    else if (floor==2){
+        strcpy(txBuffer, "Pull_2");
+        }
+    else if (floor==3){
+        strcpy(txBuffer, "Pull_3");
+        }
+    else if (floor==4){
+        strcpy(txBuffer, "Pull_4");
+        }
+    rf_send(txBuffer, strlen(txBuffer)+1);
+    pc.printf("Sent: %s\r\n", txBuffer);
+    //stop conveyor after waiting sufficient time
+    }
+void move_hv_transition_point_2(){
+    move_forward();
+    while (!(t_freq>=650 && t_freq<=750));
+    stop();
+}
+void move_downto_second_level(){
+    move_forward();
+    while (!(t_freq>=950 && t_freq<=1050));
+    stop();
+    }
+void move_downto_first_level(){
+    move_forward();
+    while (!(t_freq>=1200 && t_freq<=1300));
+    stop();
+    }
+void move_to_startpoint(){
+    move_forward();
+    while (!(t_freq>=1450 && t_freq<=1550));
+    stop();
+    }
+
+//***************** You can start coding here *****************//
+void flip() {
+    
+    t_period = t1.read_us();                
+    t_freq = (1/(float)t_period)*1000000;   
+    t1.reset();                             
+}
+int main (void)
+{
+    in.mode(PullDown);              
+    in.rise(&flip);  
+    char instruction[128];
+    uint8_t channel = 2;
+
+    //Set the Channel. 0 is default, 15 is max
+    mrf.SetChannel(channel);
+
+    //Start the timer
+    timer.start();
+
+    while(true) {
+        while(true){
+            rxLen = rf_receive(rxBuffer, 128); 
+            if (rxLen>0){
+                pc.printf("Received: %s\r\n", rxBuffer);   
+                if((!strcmp("Park_1", rxBuffer))||(!strcmp("Park_2", rxBuffer))||(!strcmp("Park_3", rxBuffer))||(!strcmp("Park_4", rxBuffer))||(!strcmp("Retrieve_1", rxBuffer))||(!strcmp("Retrieve_2", rxBuffer))||(!strcmp("Retrieve_3", rxBuffer))||(!strcmp("Retrieve_4", rxBuffer))) {
+                    pc.printf("Instruction Received: %s\r\n", rxBuffer);
+                    strcpy(instruction,rxBuffer);
+                    break;
+                    }
+                } 
+            }
+        move_hv_transition_point_1();
+        close_gate1();
+        if ((!strcmp("Park_1",instruction))||(!strcmp("Retrieve_1",instruction))){
+            move_upto_first_level();
+            if (!strcmp("Park_1",instruction)){
+                push(1);
+                }
+            else{
+                pull(1);
+                }
+            }
+        else if ((!strcmp("Park_2",instruction))||(!strcmp("Retrieve_2",instruction))){
+            move_upto_second_level();
+            if (!strcmp("Park_2",instruction)){
+                push(2);
+                }
+            else{
+                pull(2);
+                }
+            }
+        move_hv_transition_point_2();
+        open_gate1();
+        open_flap();
+        close_gate2();
+        if ((!strcmp("Park_3",instruction))||(!strcmp("Retrieve_3",instruction))){
+            move_downto_second_level();
+            if (!strcmp("Park_3",instruction)){
+                push(3);
+                }
+            else{
+                pull(3);
+                }
+            }
+        else if ((!strcmp("Park_4",instruction))||(!strcmp("Retrieve_4",instruction))){
+            move_downto_first_level();
+            if (!strcmp("Park_4",instruction)){
+                push(4);
+                }
+            else{
+                pull(4);
+                }
+            }
+        move_to_startpoint();
+        close_flap();
+        open_gate2();
+        
+        
+    
+    }
+            
+        
+            
+    }
+
+