Diff: main.cpp

Branch:

RF24_library_test_tx

Revision:

13:f0f9a5586e45

Parent:

12:cf6cbf1d1ebf

Child:

14:a4402559cd6e

diff -r cf6cbf1d1ebf -r f0f9a5586e45 main.cpp
--- a/main.cpp	Sun Nov 25 16:58:22 2018 +0000
+++ b/main.cpp	Sat Dec 01 12:56:14 2018 +0000
@@ -6,8 +6,8 @@
 #define PONG 2
 #define PC 3
 
-#define ROLE PC
-#define ID 0
+#define ROLE PONG
+#define ID 1
 
 #define nrf_CE      D2
 #define nrf_CSN     A3
@@ -64,10 +64,8 @@
             int id = 1;
             int lspeed=-40;
             int rspeed=50;
-            //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);
@@ -75,15 +73,20 @@
         case PONG:
             if ( nrf.readable() ) {
                 rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
-                printf("%s\r\n", rxData);
+              //  printf("%s\r\n", rxData);
+                int id = (rxData[0]-'0')*10+(rxData[1]-'0');
+                int dataCount = (rxData[2]-'0')*10000+(rxData[3]-'0')*1000+(rxData[4]-'0')*100+(rxData[5]-'0')*10+(rxData[6]-'0');
                 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);
+                    
+                if(true) {
+                    turnWheel(rspd, lspd);
+                    printf("[%d] RxData: %s, rspd: %d, rspd: %d\r\n", id, rxData, rspd, lspd);
+                }
             }
             break;
         case PC:
@@ -169,4 +172,18 @@
     *(txData+11) = abs(rspeed)/10+'0';
     *(txData+12) = abs(rspeed)%10+'0';
     *(txData+13) = '\0';
-}
\ No newline at end of file
+}
+
+/*
+xxyyyyyabbcddn
+
+xx: robot_id
+yyyyy: packet_id
+a: sign of lspeed
+bb: lspeed
+c: sign of rspeed
+dd: rspeed
+n: null '\0'
+
+0100001+30-30
+*/
\ No newline at end of file