Diff: main.cpp

Revision:

3:57925f75ede1

Parent:

2:e309f19062b7

Child:

4:47f95dbf49b5

--- a/main.cpp	Fri Dec 04 08:16:27 2020 +0000
+++ b/main.cpp	Fri Apr 16 12:20:18 2021 +0000
@@ -1,3 +1,15 @@
+/*
+RobotCup ENS Paris Saclay 2020-2021
+Team FC Furious
+Code by Luc DERRIEN
+
+Programme communication PC-Robot
+Point de vue : pc
+micro controleur : L432
+
+envoi d'une chaine de caractère de taille TRANSFER_SIZE = 20
+*/
+
 #include "mbed.h"
 #include "nRF24L01P.h"
 
@@ -9,47 +21,56 @@
 DigitalOut myled1(D4);
 DigitalOut myled2(D5);
 
-int main() {
+int main()
+{
 
 // Nombre de caractères transmis à chaque envoi
-#define TRANSFER_SIZE   4
+#define TRANSFER_SIZE 20
 
     char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
+    char caractere_recu=0;
     int txDataCnt = 0;
     int rxDataCnt = 0;
-    
+    int id_robot, v_tangent, v_normale, omega_robot, spiner_bool, v_tir ;
+    int consigneData[6];
+
     pc.baud(115200); // Débit de la liaison série PC
 
     my_nrf24l01p.powerUp();
-    
+
+    // paramétrage
     my_nrf24l01p.setRfFrequency(2416); // Définition de la fréquence du canal d'E/R
     my_nrf24l01p.setAirDataRate(NRF24L01P_DATARATE_1_MBPS); // Définition du débit de la communication RF
-    
+    my_nrf24l01p.setRfOutputPower(-6);
+
 
-    // Affichage de l'état de la configuration du nRF24L01+ 
+    // Affichage de l'état de la configuration du nRF24L01+
+    pc.printf( "_______________________\r\nCarte coach pc :\r\n_______________________\r\n" );
     pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  my_nrf24l01p.getRfFrequency() );
     pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  my_nrf24l01p.getRfOutputPower() );
     pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", my_nrf24l01p.getAirDataRate() );
     pc.printf( "nRF24L01+ TX Address   : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() );
-    pc.printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() ); 
-    
+    pc.printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() );
+
 
     pc.printf( "Type keys to test transfers:\r\n  (transfers are grouped into %d characters)\r\n", TRANSFER_SIZE );
 
     my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
     my_nrf24l01p.setReceiveMode();
     my_nrf24l01p.enable();
-    
 
     while (1) {
 
         // If we've received anything over the host serial link...
         if ( pc.readable() ) {
-            
-
-            // ...add it to the transmit buffer
-            txData[txDataCnt++] = pc.getc();
-
+            caractere_recu= pc.getc();
+            if (caractere_recu == 'D') {
+                txDataCnt = 0;
+                myled2 = !myled2;
+            } else {
+                // ...add it to the transmit buffer
+                txData[txDataCnt++] = caractere_recu;
+            }
             // If the transmit buffer is full
             if ( txDataCnt >= sizeof( txData ) ) {
 
@@ -57,26 +78,8 @@
                 my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, txDataCnt );
 
                 txDataCnt = 0;
+                myled1 = !myled1;
             }
-
-            // Toggle LED1 (to help debug Host -> nRF24L01+ communication)
-            myled1 = !myled1;
-        }
-
-        // If we've received anything in the nRF24L01+2...
-        if ( my_nrf24l01p.readable() ) {
-
-            // ...read the data into the receive buffer
-            rxDataCnt = my_nrf24l01p.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
-
-            // Display the receive buffer contents via the host serial link
-            for ( int i = 0; rxDataCnt > 0; rxDataCnt--, i++ ) {
-
-                pc.putc( rxData[i] );
-            }
-
-            // Toggle LED2 (to help debug nRF24L01+ -> Host communication)
-            myled2 = !myled2;
         }
     }
 }