Diff: main.cpp

Branch:

RF24_library_test_tx

Revision:

11:1b56bb8ccd04

Parent:

10:02d3ca034103

Child:

12:cf6cbf1d1ebf

--- a/main.cpp	Sun Nov 25 11:31:55 2018 +0000
+++ b/main.cpp	Sun Nov 25 12:39:01 2018 +0000
@@ -35,6 +35,8 @@
 void beepStart();
 void endBeep();
 void initNRF(int role);
+void dumpRFInfo();
+void turnWheel(int rspd, int lspd);
 void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData);
 
 
@@ -48,15 +50,14 @@
     
     beepStart();
     pc.baud(115200);
-    // Print setting of radio module
+    initNRF(role);
+    dumpRFInfo();
     
-    initNRF(role);
-
     while(1) {
         if(role == PING) {
             int id = 1;
-            int lspeed=-90;
-            int rspeed=23;
+            int lspeed=-40;
+            int rspeed=50;
             //printf("transmitting\r\n");
             txDataCnt++;
             getPayload(id, txDataCnt, lspeed, rspeed, txData);
@@ -69,6 +70,14 @@
             if ( nrf.readable() ) {
                 rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
                 printf("%s\r\n", rxData);
+                int rspd = (rxData[8]-'0')*10+(rxData[9]-'0');
+                int lspd = (rxData[11]-'0')*10+(rxData[12]-'0');
+                if(rxData[7]=='-')
+                    rspd = -rspd;
+                if(rxData[10]=='-')
+                    lspd = -lspd;
+                turnWheel(rspd, lspd);
+                printf("%d, %d\r\n", rspd,lspd);
             }
         }
     }
@@ -80,15 +89,17 @@
         motor_RA.write((float)rspd/100);
         motor_RB = 0;
     } else {
+        rspd=-rspd;
         motor_RB.write((float)rspd/100);
         motor_RA = 0;
     }
     if(lspd>0) {
         motor_LA.write((float)lspd/100);
-        motor_LB = 1;
+        motor_LB = 0;
     } else {
+        lspd = -lspd;
         motor_LB.write((float)lspd/100);
-        motor_LA = 1;
+        motor_LA = 0;
     }
 }