Diff: main.cpp

Branch:

RF24_library_test_tx

Revision:

10:02d3ca034103

Parent:

9:d85804e8d3b3

Child:

11:1b56bb8ccd04

--- a/main.cpp	Sun Nov 25 10:44:40 2018 +0000
+++ b/main.cpp	Sun Nov 25 11:31:55 2018 +0000
@@ -5,6 +5,9 @@
 #define PING 1
 #define PONG 2
 
+#define ROLE PONG
+#define ID 0
+
 #define nrf_CE      D2
 #define nrf_CSN     A3
 #define spi_SCK     D13
@@ -16,9 +19,6 @@
 
 nRF24L01P nrf(spi_MOSI, spi_MISO, spi_SCK, nrf_CSN, nrf_CE, spi_IRQ);    // mosi, miso, sck, csn, ce, irq
 
-//volatile int role = PING;
-volatile int role = PONG;
-
 Serial pc(USBTX, USBRX);
 Serial lidar(D1, D0);
 
@@ -34,27 +34,13 @@
 
 void beepStart();
 void endBeep();
+void initNRF(int role);
+void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData);
 
-void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData)
-{
-    *(txData+0) = id/10+'0';
-    *(txData+1) = id%10+'0';
-    *(txData+2) = count/10000+'0';
-    *(txData+3) = count/1000%10+'0';
-    *(txData+4) = count/100%10+'0';
-    *(txData+5) = count/10%10+'0';
-    *(txData+6) = count%10+'0';
-    *(txData+7) = lspeed/100+'0';
-    *(txData+8) = lspeed/10%10+'0';
-    *(txData+9) = lspeed%10+'0';
-    *(txData+10) = rspeed/100+'0';
-    *(txData+11) = rspeed/10%10+'0';
-    *(txData+12) = rspeed%10+'0';
-    *(txData+13) = '\0';
-}
 
 int main() {
-
+    int role = ROLE;
+    int id=0;
     char txData[TRANSFER_SIZE];
     int txDataCnt = 0;
     char rxData[TRANSFER_SIZE];
@@ -64,6 +50,59 @@
     pc.baud(115200);
     // Print setting of radio module
     
+    initNRF(role);
+
+    while(1) {
+        if(role == PING) {
+            int id = 1;
+            int lspeed=-90;
+            int rspeed=23;
+            //printf("transmitting\r\n");
+            txDataCnt++;
+            getPayload(id, txDataCnt, lspeed, rspeed, txData);
+            //char txData_[] = "123456789ABCD";
+            pc.printf("PING:%s\r\n", txData);
+            nrf.write(NRF24L01P_PIPE_P0, txData, TRANSFER_SIZE);
+            wait(0.2);
+        }
+        else if(role == PONG) {
+            if ( nrf.readable() ) {
+                rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
+                printf("%s\r\n", rxData);
+            }
+        }
+    }
+}
+
+void turnWheel(int rspd, int lspd)
+{
+    if(rspd>0) {
+        motor_RA.write((float)rspd/100);
+        motor_RB = 0;
+    } else {
+        motor_RB.write((float)rspd/100);
+        motor_RA = 0;
+    }
+    if(lspd>0) {
+        motor_LA.write((float)lspd/100);
+        motor_LB = 1;
+    } else {
+        motor_LB.write((float)lspd/100);
+        motor_LA = 1;
+    }
+}
+
+void dumpRFInfo()
+{
+    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() );
+}
+
+void initNRF(int role)
+{
     if(role == PING) {
         nrf.setTxAddress(0xDEADBEEF0F);
         nrf.powerUp();
@@ -77,32 +116,22 @@
         nrf.setReceiveMode();
         nrf.enable();
     }
-    
-    pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  nrf.getRfFrequency() );
-    pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  nrf.getRfOutputPower() );
-    pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", nrf.getAirDataRate() );
-    pc.printf( "nRF24L01+ TX Address   : 0x%010llX\r\n", nrf.getTxAddress() );
-    pc.printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", nrf.getRxAddress() );
-    
-    while(1) {
-        if(role == PING) {
-            int id = 1;
-            int lspeed=100;
-            int rspeed=123;
-            //printf("transmitting\r\n");
-            txDataCnt++;
-            getPayload(id, txDataCnt, lspeed, rspeed, txData);
-            pc.printf("PING:%s\r\n", txData);
-            //char txData_[] = "123456789ABCD";
-            nrf.write(NRF24L01P_PIPE_P0, txData, TRANSFER_SIZE);
-            wait(0.2);
-        }
-        else if(role == PONG) {
-            if ( nrf.readable() ) {
-                rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
-                printf("%s\r\n", rxData);
-            }
-        }
-    }
 }
 
+void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData)
+{
+    *(txData+0) = id/10+'0';
+    *(txData+1) = id%10+'0';
+    *(txData+2) = count/10000+'0';
+    *(txData+3) = count/1000%10+'0';
+    *(txData+4) = count/100%10+'0';
+    *(txData+5) = count/10%10+'0';
+    *(txData+6) = count%10+'0';
+    *(txData+7) = lspeed>0?'+':'-';
+    *(txData+8) = abs(lspeed)/10+'0';
+    *(txData+9) = abs(lspeed)%10+'0';
+    *(txData+10) = rspeed>0?'+':'-';
+    *(txData+11) = abs(rspeed)/10+'0';
+    *(txData+12) = abs(rspeed)%10+'0';
+    *(txData+13) = '\0';
+}
\ No newline at end of file