File content as of revision 2:ddf9879f0e25:

/////////////////////* Fichier des fonctions Xbee adaptées à la course 2017 *//////////////////////////

#include "Mlib.h"


void Xbee_init()
{

    // reset the xbees (at least 200ns)
    rst1 = 0;
    wait_ms(1);
    rst1 = 1;
    wait_ms(1);
}

int Xbee_receive()
{
    int data3=0;
    char receiveData[NB_CARAC];

    xbee1.RecieveData(receiveData,NB_CARAC);

    data3=atoi(receiveData);
    pc.printf("Recu:%s,%d \n",receiveData,data3);

    return data3;
}

void Xbee_send(int data)
{
    char data0=0;
    data0=char(data);

    xbee1.SendData(&data0);
}

/* fonction qui permet d'initialiser les valeurs de VIT KP KI et KD via Xbee*/

int Get_values_Xbee()
{
    int param =0;

    pc.printf("en attente\n");

    param= Xbee_receive();

    switch(param) {

        case VIT1:
            pc.printf("en attente de la valeur de VIT\n");
            if(Xbee_receive()!=0) {
                VIT=Xbee_receive();
                pc.printf("OK!!\n");
            }

        case KP1:
            pc.printf("en attente de la valeur de KP\n");
            if(Xbee_receive()!=0) {
                KP=Xbee_receive();
                pc.printf("OK!!\n");
            }

        case KD1:
            pc.printf("en attente de la valeur de KD\n");
            if(Xbee_receive()!=0) {
                KD=Xbee_receive();
                pc.printf("OK!!\n");
            }

        case KI1:
            pc.printf("en attente de la valeur de KI\n");
            if(Xbee_receive()!=0) {
                KI=Xbee_receive();
                pc.printf("OK!!\n");
            }

    }

}