This is the source code used by master vehicle. Modules: CAMCTL SRVCTL MTRCTL still missing i2c readings from accelerometer and rf communication
Dependencies: CAMCTL MTRCTL SRVCTL mbed FXOS8700CQ XBEE
Diff: main.cpp
- Revision:
- 3:7bdacc4cf273
- Parent:
- 2:c878e4203b62
diff -r c878e4203b62 -r 7bdacc4cf273 main.cpp --- a/main.cpp Fri Oct 17 22:44:17 2014 +0000 +++ b/main.cpp Sat Oct 18 13:01:47 2014 +0000 @@ -20,6 +20,8 @@ * - Included Rx and Tx Buffer in order to allow MSGHDL integration. * Rev 0.1.1 14/10/2014 * - Corrected placing o data into Tx buffer + * Rev 0.2 18/10/2014 + * - Added XBee services. */ /** @@ -28,6 +30,7 @@ #include "camctl.h" /* Camera controller */ #include "srvctl.h" /* Servo controller */ #include "mtrctl.h" /* Motor controller */ +#include "xbee.h" /* XBee controller */ #include "FXOS8700CQ.h" /* Accelerometer controller */ /** @@ -73,6 +76,7 @@ CAMCTL_vInit(); MTRCTL_vInit(); SRVCTL_vInit(); + XBee_vInit(); IMU.enable(); MAIN__xLEDIllumination.period_us(8333); xComPort1.baud(115200); @@ -145,6 +149,12 @@ { xComPort1.printf("ACCEL: Data invalid\r\n"); } + + memcpy(CommandTx,au8TxBuffer,9); + XBee_u8TxRq = 1; + + XBee_vMain(); + /* Pin alive indicator */ MAIN__xPinAlive = !MAIN__xPinAlive; wait(0.0001);