Diff: main.cpp

Revision:

0:2dade6db4d3a

Child:

1:450bd5ee8cdc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Nov 03 13:16:17 2018 +0000
@@ -0,0 +1,157 @@
+#include "mbed.h"
+#include "RF24.h"
+#include "tone.h"
+
+Serial pc(USBTX, USBRX);
+Serial lidar(D1, D0);
+PwmOut motor_RA(D9);
+PwmOut motor_RB(D10);
+PwmOut motor_LA(D3);
+PwmOut motor_LB(D6);
+PwmOut led_B(A1);
+PwmOut led_G(A2);
+PwmOut led_R(A5);
+PwmOut buzzer(D5);
+RF24 nrf(D11,D12,D13,D2,A3);
+AnalogIn batteryCheck(A0);
+
+void startBeep();
+void endBeep();
+void goForward();
+
+uint8_t id = 0;
+uint8_t rxAddr[10][6] = {"BOT0R","BOT1R","BOT2R","BOT3R","BOT4R","BOT5R","BOT6R","BOT7R","BOT8R","BOT9R"};
+uint8_t txAddr[10][6] = {"BOT0T","BOT1T","BOT2T","BOT3T","BOT4T","BOT5T","BOT6T","BOT7T","BOT8T","BOT9T"};
+
+int main() {
+    led_R=1;
+    led_G=1;
+    led_B=1;
+    startBeep();
+    pc.baud(115200);
+    
+    nrf.begin();
+    nrf.stopListening();
+    nrf.openWritingPipe(txAddr[id]);
+    nrf.openReadingPipe(1,rxAddr[id]);
+    nrf.setChannel(101);
+    
+    // Display the (default) setup of the nRF24L01+ chip
+    pc.printf( "My ID : %d", id);
+    pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  2000+nrf.getChannel() );
+    pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  nrf.getPALevel() );
+    pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", nrf.getDataRate() );
+    pc.printf( "nRF24L01+ TX Address   : 0x%X%X%X%X%X\r\n", rxAddr[id][0], rxAddr[id][1], rxAddr[id][2], rxAddr[id][3], rxAddr[id][4]);
+    pc.printf( "nRF24L01+ RX Address   : 0x%X%X%X%X%X\r\n", txAddr[id][0], txAddr[id][1], txAddr[id][2], txAddr[id][3], txAddr[id][4]);
+    pc.printf( "nRF24L01+ CRCWidth   : %d Byte\r\n", nrf.getCRCLength() );
+    
+    //goForward();
+    
+    while(1) {
+        pc.printf("%f\r\n", batteryCheck.read());
+        wait(0.3);
+    }
+}
+
+void startBeep()
+{
+    buzzer.write(0.5);
+    buzzer.period_us(1000000/Do5);
+    wait(0.1);
+    buzzer.period_us(1000000/Mi5);
+    wait(0.1);
+    buzzer.period_us(1000000/So5);
+    wait(0.1);
+    buzzer.write(0);
+}
+
+void endBeep()
+{
+    buzzer.write(0.5);
+    buzzer.period_us(1000000/So5);
+    wait(0.1);
+    buzzer.period_us(1000000/Mi5);
+    wait(0.1);
+    buzzer.period_us(1000000/Do5);
+    wait(0.1);
+    buzzer.write(0);
+}
+
+void goForward()
+{
+    motor_RA = 0.5;
+    motor_RB = 0;
+    motor_LA = 0;
+    motor_LB = 0.5;
+}
+
+void onLED(int r, int g, int b)
+{
+    
+}
+
+
+/*
+
+// The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
+//  "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
+//  only handles 4 byte transfers in the ATMega code.
+#define TRANSFER_SIZE   4
+
+    wait(2.0);
+ 
+    char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
+    int txDataCnt = 0;
+    int rxDataCnt = 0;
+ 
+    nrf.powerUp();
+    nrf.setTxAddress(0xE7E7E7EF, 4);
+ 
+    // Display the (default) setup of the nRF24L01+ chip
+    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() );
+    pc.printf( "nRF24L01+ CRCWidth   : %d \r\n", nrf.getCrcWidth() );
+ 
+    pc.printf( "Type keys to test transfers:\r\n  (transfers are grouped into %d characters)\r\n", TRANSFER_SIZE );
+ 
+    nrf.setTransferSize( TRANSFER_SIZE );
+ 
+    nrf.setReceiveMode();
+    nrf.enable();
+ 
+    while (1) {
+ 
+        // If we've received anything over the host serial link...
+        if ( pc.readable() ) {
+ 
+            // ...add it to the transmit buffer
+            txData[txDataCnt++] = pc.getc();
+ 
+            // If the transmit buffer is full
+            if ( txDataCnt >= sizeof( txData ) ) {
+ 
+                // Send the transmitbuffer via the nRF24L01+
+                nrf.write( NRF24L01P_PIPE_P0, txData, txDataCnt );
+ 
+                txDataCnt = 0;
+            }
+            endBeep();
+        }
+ 
+        // If we've received anything in the nRF24L01+...
+        if ( nrf.readable() ) {
+ 
+            // ...read the data into the receive buffer
+            rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
+ 
+            // Display the receive buffer contents via the host serial link
+            for ( int i = 0; rxDataCnt > 0; rxDataCnt--, i++ ) {
+                pc.putc( rxData[i] );
+            }
+            startBeep();
+        }
+    }
+    */
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