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@6:db985df4354b, 2016-03-31 (annotated)

Committer:
ivo_david_michelle
Date:
Thu Mar 31 19:26:48 2016 +0000
Revision:
6:db985df4354b
Parent:
5:3ad830e95ffd
Child:
7:8714628b62e5
correctly read float values from 0 to 1.0 (0.5 when at center) for yaw, thrust, pitch, and roll

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ivo_david_michelle 5:3ad830e95ffd 1 #include "MRF24J40.h"
ivo_david_michelle 5:3ad830e95ffd 2 #include "sender.h"
ivo_david_michelle 5:3ad830e95ffd 3 #include "analog_joystick.h"
ivo_david_michelle 5:3ad830e95ffd 4
ivo_david_michelle 5:3ad830e95ffd 5 #include <string>
ivo_david_michelle 5:3ad830e95ffd 6
ivo_david_michelle 5:3ad830e95ffd 7 // RF tranceiver to link with handheld.
ivo_david_michelle 5:3ad830e95ffd 8 MRF24J40 mrf(p11, p12, p13, p14, p21);
ivo_david_michelle 5:3ad830e95ffd 9
ivo_david_michelle 5:3ad830e95ffd 10 // LEDs you can treat these as variables (led2 = 1 will turn led2 on!)
ivo_david_michelle 5:3ad830e95ffd 11 DigitalOut led1(LED1);
ivo_david_michelle 5:3ad830e95ffd 12 DigitalOut led2(LED2);
ivo_david_michelle 5:3ad830e95ffd 13 DigitalOut led3(LED3);
ivo_david_michelle 5:3ad830e95ffd 14 DigitalOut led4(LED4);
ivo_david_michelle 5:3ad830e95ffd 15
ivo_david_michelle 5:3ad830e95ffd 16 // Timer
ivo_david_michelle 5:3ad830e95ffd 17 Timer timer;
ivo_david_michelle 5:3ad830e95ffd 18
ivo_david_michelle 5:3ad830e95ffd 19 // Serial port for showing RX data.
ivo_david_michelle 5:3ad830e95ffd 20 Serial pc(USBTX, USBRX);
ivo_david_michelle 5:3ad830e95ffd 21
ivo_david_michelle 5:3ad830e95ffd 22 // Used for sending and receiving
ivo_david_michelle 5:3ad830e95ffd 23 char txBuffer[128];
ivo_david_michelle 5:3ad830e95ffd 24 char rxBuffer[128];
ivo_david_michelle 5:3ad830e95ffd 25 int rxLen;
ivo_david_michelle 5:3ad830e95ffd 26 LocalFileSystem local("local");
ivo_david_michelle 5:3ad830e95ffd 27
ivo_david_michelle 5:3ad830e95ffd 28 //***************** send and receive methods *****************//
ivo_david_michelle 5:3ad830e95ffd 29 /*
ivo_david_michelle 5:3ad830e95ffd 30 void wait_for_ping(uint8_t length) {
ivo_david_michelle 5:3ad830e95ffd 31 int receive = 0;
ivo_david_michelle 5:3ad830e95ffd 32 uint8_t *rssi = 0;
ivo_david_michelle 5:3ad830e95ffd 33
ivo_david_michelle 5:3ad830e95ffd 34 while (receive == 0) {
ivo_david_michelle 5:3ad830e95ffd 35 receive = rf_receive_rssi(rxBuffer, rssi, length);
ivo_david_michelle 5:3ad830e95ffd 36 }
ivo_david_michelle 5:3ad830e95ffd 37 }
ivo_david_michelle 5:3ad830e95ffd 38 */
ivo_david_michelle 5:3ad830e95ffd 39
ivo_david_michelle 5:3ad830e95ffd 40
ivo_david_michelle 5:3ad830e95ffd 41 //***************** main loop *****************//
ivo_david_michelle 5:3ad830e95ffd 42
ivo_david_michelle 5:3ad830e95ffd 43 int main (void)
ivo_david_michelle 5:3ad830e95ffd 44 {
ivo_david_michelle 5:3ad830e95ffd 45 uint8_t channel = 3;
ivo_david_michelle 5:3ad830e95ffd 46 uint8_t iterations = 0;
ivo_david_michelle 5:3ad830e95ffd 47 uint8_t successCounter = 0;
ivo_david_michelle 5:3ad830e95ffd 48 uint8_t rssiBuffer[iterations];
ivo_david_michelle 5:3ad830e95ffd 49
ivo_david_michelle 5:3ad830e95ffd 50 char *byteTransmit = "!"; // TODO: change this!
ivo_david_michelle 5:3ad830e95ffd 51
ivo_david_michelle 5:3ad830e95ffd 52 //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 5:3ad830e95ffd 53 mrf.SetChannel(channel);
ivo_david_michelle 5:3ad830e95ffd 54
ivo_david_michelle 5:3ad830e95ffd 55 //Start the timer
ivo_david_michelle 5:3ad830e95ffd 56 timer.start();
ivo_david_michelle 5:3ad830e95ffd 57
ivo_david_michelle 5:3ad830e95ffd 58 pc.printf("START\r\n");
ivo_david_michelle 5:3ad830e95ffd 59
ivo_david_michelle 5:3ad830e95ffd 60 FILE *fp = fopen("/local/out.txt\r\n", "w");
ivo_david_michelle 5:3ad830e95ffd 61 if (fp == NULL) {
ivo_david_michelle 5:3ad830e95ffd 62 pc.printf("error opening file\r\n");
ivo_david_michelle 5:3ad830e95ffd 63 return 0;
ivo_david_michelle 5:3ad830e95ffd 64 }
ivo_david_michelle 5:3ad830e95ffd 65
ivo_david_michelle 6:db985df4354b 66 int count = 25;
ivo_david_michelle 5:3ad830e95ffd 67 while (count > 0) {
ivo_david_michelle 5:3ad830e95ffd 68 count--;
ivo_david_michelle 6:db985df4354b 69
ivo_david_michelle 6:db985df4354b 70 pc.printf("yaw: %f\r\n", read_yaw());
ivo_david_michelle 6:db985df4354b 71 pc.printf("pitch: %f\r\n", read_pitch());
ivo_david_michelle 6:db985df4354b 72 pc.printf("roll: %f\r\n", read_roll());
ivo_david_michelle 6:db985df4354b 73 pc.printf("thrust: %f\r\n", read_thrust());
ivo_david_michelle 5:3ad830e95ffd 74
ivo_david_michelle 5:3ad830e95ffd 75 wait(0.2);
ivo_david_michelle 5:3ad830e95ffd 76 }
ivo_david_michelle 5:3ad830e95ffd 77
ivo_david_michelle 5:3ad830e95ffd 78
ivo_david_michelle 5:3ad830e95ffd 79 // send_three_way_handshake();
ivo_david_michelle 5:3ad830e95ffd 80
ivo_david_michelle 5:3ad830e95ffd 81 for (int i = 0; i < iterations; i++) {
ivo_david_michelle 5:3ad830e95ffd 82 strcpy(txBuffer, byteTransmit);
ivo_david_michelle 5:3ad830e95ffd 83 rf_send(mrf, txBuffer, strlen(txBuffer) + 1);
ivo_david_michelle 5:3ad830e95ffd 84 pc.printf("RC Sent: %s \r\n", txBuffer);
ivo_david_michelle 5:3ad830e95ffd 85
ivo_david_michelle 5:3ad830e95ffd 86 wait(0.2);
ivo_david_michelle 5:3ad830e95ffd 87 }
ivo_david_michelle 5:3ad830e95ffd 88
ivo_david_michelle 5:3ad830e95ffd 89 // output data
ivo_david_michelle 5:3ad830e95ffd 90 fprintf(fp, "# received\t= %d\n", successCounter);
ivo_david_michelle 5:3ad830e95ffd 91 fprintf(fp, "# sent\t= %d\n", iterations);
ivo_david_michelle 5:3ad830e95ffd 92 fprintf(fp, "success rate\t= %f\n", (double) successCounter / (double) iterations);
ivo_david_michelle 5:3ad830e95ffd 93 double sum = 0;
ivo_david_michelle 5:3ad830e95ffd 94 for (int i = 0; i < successCounter; i++) {
ivo_david_michelle 5:3ad830e95ffd 95 sum += rssiBuffer[i];
ivo_david_michelle 5:3ad830e95ffd 96 }
ivo_david_michelle 5:3ad830e95ffd 97 fprintf(fp, "average rssi\t= %f\n", sum / (double) successCounter);
ivo_david_michelle 5:3ad830e95ffd 98 fclose(fp);
ivo_david_michelle 5:3ad830e95ffd 99
ivo_david_michelle 5:3ad830e95ffd 100 pc.printf("END\r\n");
ivo_david_michelle 5:3ad830e95ffd 101 }