Oliver Mattos
Transmitter code for quadcopter
main.cpp@0:e6426242cacc, 2011-12-07 (annotated)
- Committer:
- Hello1024
- Date:
- Wed Dec 07 12:37:01 2011 +0000
- Revision:
- 0:e6426242cacc
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Hello1024 | 0:e6426242cacc | 1 | #include "mbed.h" |
| Hello1024 | 0:e6426242cacc | 2 | #include "RF12B.h" |
| Hello1024 | 0:e6426242cacc | 3 | #include <queue> |
| Hello1024 | 0:e6426242cacc | 4 | #include <math.h> |
| Hello1024 | 0:e6426242cacc | 5 | |
| Hello1024 | 0:e6426242cacc | 6 | Serial pc(USBTX, USBRX); |
| Hello1024 | 0:e6426242cacc | 7 | RF12B radiolink(p5, p6, p7, p8, p9); |
| Hello1024 | 0:e6426242cacc | 8 | AnalogIn joy_in(p17); |
| Hello1024 | 0:e6426242cacc | 9 | DigitalIn estop(p21); |
| Hello1024 | 0:e6426242cacc | 10 | |
| Hello1024 | 0:e6426242cacc | 11 | //This program just listens to pc serial and sends a "sizeofpacket" prefixed packet over rf |
| Hello1024 | 0:e6426242cacc | 12 | //for now, it is as blocking as it gets.. |
| Hello1024 | 0:e6426242cacc | 13 | int main() { |
| Hello1024 | 0:e6426242cacc | 14 | while (1) { |
| Hello1024 | 0:e6426242cacc | 15 | unsigned char stuff = (unsigned char)min(((joy_in-0.5)*128), 64.0); |
| Hello1024 | 0:e6426242cacc | 16 | //pc.printf("%d\r\n", stuff); |
| Hello1024 | 0:e6426242cacc | 17 | queue<char> qtobesent; |
| Hello1024 | 0:e6426242cacc | 18 | qtobesent.push(0); |
| Hello1024 | 0:e6426242cacc | 19 | qtobesent.push(0); |
| Hello1024 | 0:e6426242cacc | 20 | qtobesent.push(stuff); |
| Hello1024 | 0:e6426242cacc | 21 | qtobesent.push(0); |
| Hello1024 | 0:e6426242cacc | 22 | if(estop.read()) { |
| Hello1024 | 0:e6426242cacc | 23 | qtobesent.push(0); |
| Hello1024 | 0:e6426242cacc | 24 | } else { |
| Hello1024 | 0:e6426242cacc | 25 | qtobesent.push(1); |
| Hello1024 | 0:e6426242cacc | 26 | } |
| Hello1024 | 0:e6426242cacc | 27 | /* char packet_length = pc.getc(); |
| Hello1024 | 0:e6426242cacc | 28 | for (int i = 0; i < packet_length; i++) { |
| Hello1024 | 0:e6426242cacc | 29 | qtobesent.push(pc.getc()); |
| Hello1024 | 0:e6426242cacc | 30 | }*/ |
| Hello1024 | 0:e6426242cacc | 31 | |
| Hello1024 | 0:e6426242cacc | 32 | radiolink.write(qtobesent); |
| Hello1024 | 0:e6426242cacc | 33 | wait(0.1); |
| Hello1024 | 0:e6426242cacc | 34 | } |
| Hello1024 | 0:e6426242cacc | 35 | } |