Revision 12:502cf4fc6d98, committed 2017-03-30

Comitter:

simplyellow

Date:

Thu Mar 30 17:27:21 2017 +0000

Parent:

11:87f30625b213

Child:

13:112b6543909a

Commit message:

began work on transceiver

Changed in this revision

--- a/DumpTruck.cpp	Tue Mar 14 20:10:27 2017 +0000
+++ b/DumpTruck.cpp	Thu Mar 30 17:27:21 2017 +0000
@@ -9,9 +9,61 @@
         //turnMotor = new Motor(p22, p29);
         //bedMotor = new Motor(p23, p28);
     //bed = new IMU(@@@@@@@);
-    //nrf = new Transceiver(@@@@@@);
     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;
+}
+
+void DumpTruck::startComms() {
+    nrf->powerUp();
+    printf( "nRF24L01+ Frequency    : %d MHz\r\n",  nrf->getRfFrequency() );
+    printf( "nRF24L01+ Output power : %d dBm\r\n",  nrf->getRfOutputPower() );
+    printf( "nRF24L01+ Data Rate    : %d kbps\r\n", nrf->getAirDataRate() );
+    printf( "nRF24L01+ TX Address   : 0x%010llX\r\n", nrf->getTxAddress() );
+    printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", nrf->getRxAddress() );
+    nrf->setTransferSize( TRANSFER_SIZE );
+    nrf->setReceiveMode();
+    nrf->enable();
+    received = false;
+}
+
+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 for receiving
+    while(!received) {
+        if (nrf->readable() ) {
+            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++ ) {
+
+                pc.putc( rxData[j] );
+            }*/
+        }
+        //received = true after receiving command
+    }
+    //switch statement, sorting all commands
+    
+}
+
+void DumpTruck::reportData() {
+    //should run last in main thread
+
 }
 
 void DumpTruck::driveDistance(float speed, float distance) {

--- a/DumpTruck.h	Tue Mar 14 20:10:27 2017 +0000
+++ b/DumpTruck.h	Thu Mar 30 17:27:21 2017 +0000
@@ -14,9 +14,11 @@
 #include "Tracker.h"
 //#include "IMU.h"
 #include "Motor.h"
-//#include "Transceiver.h"
+#include "nRF24L01P.h" //Transceiver library
 #include "SRF05.h"
 
+#define TRANSFER_SIZE   8
+
 // ADD SWITCHES & ULTRASONIC SENSOR implementation
 
 /**
@@ -34,6 +36,21 @@
     */
     DumpTruck(int truckId);
 
+    /*
+    *   Initialize transceiver.
+    */
+    void startComms();
+    
+    /*
+    *   Receive a command from base station.
+    */
+    void getCommand();
+    
+    /*
+    *   Send important data back to the base station.
+    */
+    void reportData();
+
     // motor functions
     /*
     *   Drive a certain distance at a desired speed.
@@ -70,7 +87,7 @@
     Motor *frontMotor;
     Motor *turnMotor;
     Motor *bedMotor;
-    //Transceiver *nrf;
+    nRF24L01P *nrf; //Transceiver *nrf;
     SRF05 *srf;
 
     // add direct control for motor, switch, and ultrasonic sensor.
@@ -89,5 +106,10 @@
     // ultrasonic-specific variables
     bool tooClose;
     float proximity;
+    
+    int txDataCnt;
+    int rxDataCnt;
+    char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
+    bool received;
 };
 #endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/commands.h	Thu Mar 30 17:27:21 2017 +0000
@@ -0,0 +1,1 @@
+#define DR
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nRF24L01P.lib	Thu Mar 30 17:27:21 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Owen/code/nRF24L01P/#8ae48233b4e4