File content as of revision 14:1b41c5adf46e:

/*
RobotCup ENS Paris Saclay 2020-2021
Team FC Furious
Code by Luc DERRIEN adapted by Eve

Programme communication PC-Robot
Point de vue : PC
micro controleur : L475

envoi d'une chaine de caractère de taille TRANSFER_SIZE
*/

#include "mbed.h"
#include "string.h"
#include "nRF24L01P.h"
#include "float.h"
#include "MX12.h"
#include "stdio.h"

BufferedSerial pc_serie(USBTX,USBRX,115200);

nRF24L01P my_nrf24l01p(D11, D12, D13, D9, D2, D1);    // mosi, miso, sck, csn, ce, irq
DigitalOut maled2(LED2);
DigitalOut charge(D0);
DigitalOut tir(D3);
DigitalOut dd(D15);

Thread reception_thread;
Thread tir_thread;
Thread dribble_thread;

#define TRANSFER_SIZE   14

    char chaine[150];
    char tampon;
    
    char* reception8;

    int16_t Vavance, Vlat,Wz,idcharge,idtir,dribble,idrobot;
    int i;
    int16_t reception16[TRANSFER_SIZE/2];

void reception()
{
    
    my_nrf24l01p.powerUp();
    my_nrf24l01p.setRfFrequency(2424);
    my_nrf24l01p.setAirDataRate(1000);
    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
    my_nrf24l01p.setReceiveMode();
    my_nrf24l01p.setCrcWidth(0);
    my_nrf24l01p.setRxAddress();
    my_nrf24l01p.enable();   

    pc_serie.write("Je suis le robot de Eve", strlen("Je suis le robot de Eve"));

    maled2 = 1;
    MX12 servo_bus(PC_4, PC_5, 115200);

    while (1) {

        if (my_nrf24l01p.readable()) {
            maled2 = !maled2;
            my_nrf24l01p.read( NRF24L01P_PIPE_P0, reception8, TRANSFER_SIZE );
            for (i=0 ; i<TRANSFER_SIZE;i+=2){
                tampon = reception8[i+1];
                reception8[i+1] = reception8 [i];
                reception8[i]= tampon;
                }               
            idrobot = reception16[6];
            if (idrobot==0){
            
            Vavance = reception16[0];
            Vlat = reception16[1];
            Wz = reception16[2];
            idcharge = reception16[3];
            idtir = reception16[4];
            dribble = reception16[5];
            dd=(dribble!=0);
            //alors là c'est juste un test mais il y a quasi aucune chance que ça marche 
            sprintf(chaine," Vav = %d, Vlat = %d, Wz = %d, dribble= %d, idtir= %d, idcharge= %d, idrobot= %d \n\r",(int)Vavance, (int)Vlat, (int)Wz, (int)dribble, (int)idtir, (int)idcharge, (int)idrobot);
            pc_serie.write(chaine, strlen(chaine));
        
        servo_bus.cmd_moteur(Vavance/1000.0,  Vlat/1000.0, Wz/1000.0);
        //a bouger
        //charge=(idcharge!=0);
        charge=(idcharge==1);
        ThisThread::sleep_for(10ms);
        charge=0;
        //dd.SetSpeed(dribble);
        //tir=1;       
        }
        }

    }

}
void Dribble(){
}
    
void Tir(){
    while(1){
    if (idtir!=0){
    tir = 1 ;
    ThisThread::sleep_for(idtir);
    tir = 0 ;
        }
    tir=0;}
}

int main(){
dd=0;
reception8 = (char*) reception16;
reception_thread.start(reception);
dribble_thread.start(Dribble);

tir_thread.start(Tir);
}