PSL_2021 / Mbed OS prog_robot_1_Eve_v4

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Dependencies:   mbed-os nRF24L01P

main.cpp

Committer:
evedelegue
Date:
2022-02-25
Revision:
9:67d737d8a349
Parent:
8:04ab02bb2262
Child:
10:0312e23ba3a1

File content as of revision 9:67d737d8a349:

/*
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);


int main()
{

#define TRANSFER_SIZE   12

    char chaine[50];
    float reception[3];
    float Vavance, Vlat,Wz;
    int i;
    my_nrf24l01p.powerUp();
    my_nrf24l01p.setRfFrequency(2420);
    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;

    while (1) {


        if (my_nrf24l01p.readable()) {
            maled2 = !maled2;
            my_nrf24l01p.read( NRF24L01P_PIPE_P0, (char *)reception, TRANSFER_SIZE );
            Vavance = reception[0];
            Vlat = reception[1];
            Wz = reception[2];
            
            sprintf(chaine," Vav = %f, Vlat = %f, Wz = %f\n\r",(float)Vavance, (float)Vlat, (float)Wz);
            pc_serie.write(chaine, strlen(chaine));
           // cmd_moteur(Vavance,  Vlat, Wz);

        }

    }

}