Revision 13:112b6543909a, committed 2017-04-13

Comitter:

simplyellow

Date:

Thu Apr 13 17:32:44 2017 +0000

Parent:

12:502cf4fc6d98

Child:

14:fd6090cddc2e

Commit message:

.

Changed in this revision

--- a/DumpTruck.cpp	Thu Mar 30 17:27:21 2017 +0000
+++ b/DumpTruck.cpp	Thu Apr 13 17:32:44 2017 +0000
@@ -1,21 +1,27 @@
 #include "DumpTruck.h"
 
+
 DumpTruck::DumpTruck(int truckId) : truckNumber(truckId) {
     truckNumber = truckId;
         //track = new Tracker(p29, p30, p15);
     // PWM: 21, 22, 23
     // DIR: 27, 28, 29
     frontMotor = new Motor(p23, p28);
-        //turnMotor = new Motor(p22, p29);
-        //bedMotor = new Motor(p23, p28);
+    turnMotor = new Motor(p22, p29);
+    bedMotor = new Motor(p23, p28);
     //bed = new IMU(@@@@@@@);
     srf = new SRF05(p15, p16); //trigger, echo.
     tooClose = false;
-    
+
     nrf = new nRF24L01P(p5, p6, p7, p8, p9, p10); // transceiver
     //transceiver set up, similar to one on base station code
     txDataCnt = 0;
     rxDataCnt = 0;
+    received = false;
+    
+    void (*commands[2]);
+    commands[0] = DumpTruck::stopBed;
+    commands[1] = DumpTruck::stopDrive;
 }
 
 void DumpTruck::startComms() {
@@ -28,62 +34,104 @@
     nrf->setTransferSize( TRANSFER_SIZE );
     nrf->setReceiveMode();
     nrf->enable();
-    received = false;
+    
+    // fill acked array
+    for(int i = 0; i < TRANSFER_SIZE; i++) {
+        acked[i] = '0';
+        nacked[i] = '1';
+    }
+}
+
+void DumpTruck::sendAck() {
+    printf("SEND acked\n\r");
+    wait(1);
+    nrf->write(NRF24L01P_PIPE_P0, acked, TRANSFER_SIZE);
+    printf("SENT\n\r");
+}
+
+void DumpTruck::sendNack() {
+    printf("SEND nacked\n\r");
+    wait(1);
+    nrf->write(NRF24L01P_PIPE_P0, nacked, TRANSFER_SIZE);
+    printf("SENT\n\r");
 }
 
 void DumpTruck::getCommand() {
-    received = false;
     //called at the end of each executable command
-    //print statement saying dump truck is ready to receive
-        //have print statement appear in base station code
     //dump truck transceiver sends a code to base station, opening the channel
-        //code is all 0's
-            for(int i = 0; i < TRANSFER_SIZE; i++) {
-                txData[i] = 0;
-            }
-            nrf->write(NRF24L01P_PIPE_P0, txData, TRANSFER_SIZE);
-        //possibly implement kill switch/stop current action
-    //...
+    //code is all 0's
+    received = false;
+    //acked to receive command
+    sendAck();
+    //possibly implement kill switch/stop current action
     //code for receiving
     while(!received) {
-        if (nrf->readable() ) {
+        if (nrf->readable()) {
+        // ...read the data into the receive buffer
             rxDataCnt = nrf->read(NRF24L01P_PIPE_P0, rxData, sizeof(rxData));
-            /*
-            either go char by char to determine command or switch statement
-            for ( int j = 0; rxDataCnt > 0; rxDataCnt--, i++ ) {
+            received = true; //after receiving command
+            printf("received command\n\r");
+            processCommand();
+        }
+    }
+}
 
-                pc.putc( rxData[j] );
-            }*/
-        }
-        //received = true after receiving command
+void DumpTruck::processCommand() {
+    //strcmp(rxData,"on")==0
+    //perhaps have an array of all commands..??
+        //maybe commands.h is just the array
+    //and the "on" becomes commands[k]?
+    // real time driving
+    switch(rxData) {
+        case 1:
+            sendAck();
+            printf("ack\n\r");
+            break;
+        default:
+            sendNack();
+            printf("nack\n\r");
+            break;
     }
-    //switch statement, sorting all commands
-    
+    getCommand();
 }
 
 void DumpTruck::reportData() {
     //should run last in main thread
-
 }
 
 void DumpTruck::driveDistance(float speed, float distance) {
     frontMotor->write(speed);
+    getCommand();
 }
 
 void DumpTruck::drive(float speed) {
     frontMotor->write(speed);
+    getCommand();
 }
 
 void DumpTruck::turn(float angle) {
+    getCommand();
     return;
 }
 
 void DumpTruck::moveBed(bool raise, float angle) {
+    getCommand();
     return;
 }
 
-void DumpTruck::stop() {
+void DumpTruck::stopDrive() {
     frontMotor->write(0);
+    getCommand();
+}
+
+void DumpTruck::stopTurn() {
+    turnMotor->write(0);
+    getCommand();
+}
+
+void DumpTruck::stopBed() {
+    bedMotor->write(0);
+    getCommand();
 }
 
 bool DumpTruck::detect() {

--- a/DumpTruck.h	Thu Mar 30 17:27:21 2017 +0000
+++ b/DumpTruck.h	Thu Apr 13 17:32:44 2017 +0000
@@ -17,6 +17,11 @@
 #include "nRF24L01P.h" //Transceiver library
 #include "SRF05.h"
 
+//using strings to process commands
+#include <string> 
+#include <stdio.h>
+using namespace std;
+
 #define TRANSFER_SIZE   8
 
 // ADD SWITCHES & ULTRASONIC SENSOR implementation
@@ -37,6 +42,23 @@
     DumpTruck(int truckId);
 
     /*
+    *   Process command
+    */
+    void processCommand();
+
+    /*
+    *   Send not acknowledge
+    */
+
+    void sendNack();
+
+    /*
+    *   Send acknowledge
+    */
+
+    void sendAck();
+    
+    /*
     *   Initialize transceiver.
     */
     void startComms();
@@ -71,7 +93,17 @@
     /*
     *   Stop driving.
     */
-    void stop();                            // all Motors
+    int stopDrive();                            // all Motors
+    
+    /*
+    *   Stop turning.
+    */
+    int stopTurn();                            // all Motors
+
+    /*
+    *   Stop bed.
+    */
+    int stopBed();                            // all Motors
 
     // ultrasonic functions
     /*
@@ -79,6 +111,13 @@
     *   proximity from objects.
     */
     bool detect();                          // returns bool for object too close
+    
+    int txDataCnt;
+    int rxDataCnt;
+    char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
+    char acked[TRANSFER_SIZE];
+    char nacked[TRANSFER_SIZE]; 
+    bool received;
 
 
 protected:
@@ -107,9 +146,9 @@
     bool tooClose;
     float proximity;
     
-    int txDataCnt;
+    /*int txDataCnt;
     int rxDataCnt;
     char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
-    bool received;
+    bool received;*/
 };
 #endif

--- a/commands.h	Thu Mar 30 17:27:21 2017 +0000
+++ b/commands.h	Thu Apr 13 17:32:44 2017 +0000
@@ -1,1 +1,3 @@
-#define DR
\ No newline at end of file
+#include "DumpTruck.h"
+
+string a("text");
\ No newline at end of file

--- a/main.cpp	Thu Mar 30 17:27:21 2017 +0000
+++ b/main.cpp	Thu Apr 13 17:32:44 2017 +0000
@@ -1,21 +1,18 @@
 #include "DumpTruck.h"
 DumpTruck dump(1);
+Serial pc(USBTX, USBRX);
 
 /*
 test code for driving and stopping when an object gets too close
 to the dump truck.
 */
 
-int main() {
-    
-    while(1) {        
-        printf("%f\r\n",(float)dump.detect());
-        if(dump.detect()) {
-            dump.stop();
-        } else {
-            dump.drive(0.5f);
-        }
-    }
-    
+int main() {   
+    dump.startComms();
+    dump.getCommand();
+    /*
+    for(int i = 0; i < dump.rxDataCnt; i++) {
+        pc.putc(dump.rxData[i]);
+    }*/ 
 }