David Lakata / Mbed 2 deprecated QuadTrioRC

Remote control code for https://developer.mbed.org/users/ivo_david_michelle/code/QuadTrio/

Dependencies:   Analog_Joystick Sender mbed

Fork of ESE350-Whack-a-Mole by Eric Berdinis

rc.cpp@7:8714628b62e5, 2016-03-31 (annotated)

Committer:
ivo_david_michelle
Date:
Thu Mar 31 22:41:19 2016 +0000
Revision:
7:8714628b62e5
Parent:
6:db985df4354b
Child:
8:ff7cd3525c32
milestone - remote control sends four degrees of freedom

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ivo_david_michelle 7:8714628b62e5 1 #include "mbed.h"
ivo_david_michelle 5:3ad830e95ffd 2 #include "MRF24J40.h"
ivo_david_michelle 5:3ad830e95ffd 3 #include "sender.h"
ivo_david_michelle 5:3ad830e95ffd 4 #include "analog_joystick.h"
ivo_david_michelle 5:3ad830e95ffd 5
ivo_david_michelle 7:8714628b62e5 6 #include <string.h>
ivo_david_michelle 5:3ad830e95ffd 7
ivo_david_michelle 5:3ad830e95ffd 8 // RF tranceiver to link with handheld.
ivo_david_michelle 5:3ad830e95ffd 9 MRF24J40 mrf(p11, p12, p13, p14, p21);
ivo_david_michelle 5:3ad830e95ffd 10
ivo_david_michelle 5:3ad830e95ffd 11 // LEDs you can treat these as variables (led2 = 1 will turn led2 on!)
ivo_david_michelle 5:3ad830e95ffd 12 DigitalOut led1(LED1);
ivo_david_michelle 5:3ad830e95ffd 13 DigitalOut led2(LED2);
ivo_david_michelle 5:3ad830e95ffd 14 DigitalOut led3(LED3);
ivo_david_michelle 5:3ad830e95ffd 15 DigitalOut led4(LED4);
ivo_david_michelle 5:3ad830e95ffd 16
ivo_david_michelle 5:3ad830e95ffd 17 // Timer
ivo_david_michelle 5:3ad830e95ffd 18 Timer timer;
ivo_david_michelle 5:3ad830e95ffd 19
ivo_david_michelle 5:3ad830e95ffd 20 // Serial port for showing RX data.
ivo_david_michelle 5:3ad830e95ffd 21 Serial pc(USBTX, USBRX);
ivo_david_michelle 5:3ad830e95ffd 22
ivo_david_michelle 7:8714628b62e5 23 int iterations = 100;
ivo_david_michelle 5:3ad830e95ffd 24
ivo_david_michelle 5:3ad830e95ffd 25 //***************** send and receive methods *****************//
ivo_david_michelle 5:3ad830e95ffd 26 /*
ivo_david_michelle 5:3ad830e95ffd 27 void wait_for_ping(uint8_t length) {
ivo_david_michelle 5:3ad830e95ffd 28 int receive = 0;
ivo_david_michelle 5:3ad830e95ffd 29 uint8_t *rssi = 0;
ivo_david_michelle 7:8714628b62e5 30
ivo_david_michelle 5:3ad830e95ffd 31 while (receive == 0) {
ivo_david_michelle 5:3ad830e95ffd 32 receive = rf_receive_rssi(rxBuffer, rssi, length);
ivo_david_michelle 5:3ad830e95ffd 33 }
ivo_david_michelle 5:3ad830e95ffd 34 }
ivo_david_michelle 5:3ad830e95ffd 35 */
ivo_david_michelle 5:3ad830e95ffd 36
ivo_david_michelle 5:3ad830e95ffd 37
ivo_david_michelle 5:3ad830e95ffd 38 //***************** main loop *****************//
ivo_david_michelle 5:3ad830e95ffd 39
ivo_david_michelle 7:8714628b62e5 40 int main (void) {
ivo_david_michelle 5:3ad830e95ffd 41 uint8_t channel = 3;
ivo_david_michelle 5:3ad830e95ffd 42
ivo_david_michelle 5:3ad830e95ffd 43 //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 5:3ad830e95ffd 44 mrf.SetChannel(channel);
ivo_david_michelle 5:3ad830e95ffd 45
ivo_david_michelle 5:3ad830e95ffd 46 //Start the timer
ivo_david_michelle 5:3ad830e95ffd 47 timer.start();
ivo_david_michelle 7:8714628b62e5 48
ivo_david_michelle 5:3ad830e95ffd 49 pc.printf("START\r\n");
ivo_david_michelle 7:8714628b62e5 50
ivo_david_michelle 7:8714628b62e5 51 // send_three_way_handshake();
ivo_david_michelle 6:db985df4354b 52
ivo_david_michelle 7:8714628b62e5 53 int i;
ivo_david_michelle 7:8714628b62e5 54 char txBuffer[50];
ivo_david_michelle 5:3ad830e95ffd 55
ivo_david_michelle 7:8714628b62e5 56 for (i = 0; i < iterations; i++) {
ivo_david_michelle 7:8714628b62e5 57 sprintf(txBuffer, "%f,%f,%f,%f", read_thrust(), read_yaw(), read_pitch(), read_roll());
ivo_david_michelle 5:3ad830e95ffd 58 rf_send(mrf, txBuffer, strlen(txBuffer) + 1);
ivo_david_michelle 5:3ad830e95ffd 59 pc.printf("RC Sent: %s \r\n", txBuffer);
ivo_david_michelle 7:8714628b62e5 60
ivo_david_michelle 7:8714628b62e5 61 wait(0.2); // TODO: change this value?
ivo_david_michelle 5:3ad830e95ffd 62 }
ivo_david_michelle 7:8714628b62e5 63
ivo_david_michelle 5:3ad830e95ffd 64 pc.printf("END\r\n");
ivo_david_michelle 5:3ad830e95ffd 65 }