Diff: main.cpp

Revision:

0:d63a63feb104

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jun 10 11:05:23 2014 +0000
@@ -0,0 +1,192 @@
+/*******************************************************************************************
+ *
+ * University of York Robot Lab Pi Swarm Handheld Controller Software
+ *
+ * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
+ *
+ * Version 0.5  February 2014
+ *
+ * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2
+ *
+ ******************************************************************************************/
+
+#include "mbed.h"
+#include "main.h"
+#include "communications.h"
+#include "display.h"
+
+Serial pc (USBTX, USBRX);
+DigitalOut myled(LED1);
+Display display;
+Alpha433 rf;
+Ticker switch_ticker;
+DigitalIn switch_up(p21);
+DigitalIn switch_upright(p22);
+DigitalIn switch_right(p23);
+DigitalIn switch_downright(p24);
+DigitalIn switch_down(p25);
+DigitalIn switch_downleft(p26);
+DigitalIn switch_left(p27);
+DigitalIn switch_upleft(p29);
+DigitalIn switch_center(p28);
+DigitalOut tx_led(p18);
+DigitalOut rx_led(p17);
+char target_id = 0;
+int switch_state = 0;
+int speed_mode = 0;
+float speed = 0.1;
+
+void handleUserRFCommand(char sender, char broadcast_message, char request_response, char id, char is_command, char function, char * data, char length){
+    // A 'user' RF Command has been received:  write the code here to process it
+    // sender = ID of the sender, range 0 to 31
+    // broadcast_message = 1 is message sent to all robots, 0 otherwise
+    // request_response = 1 if a response is expected, 0 otherwise
+    // id = Message ID, range 0 to 255
+    // is_command = 1 is message is a command, 0 if it is a request.  If RF_ALLOW_COMMANDS is not selected, only requests will be sent to this block
+    // function = The function identifier.  Range 0 to 15
+    // * data = Array containing extra data bytes
+    // length = Length of extra data bytes held (range 0 to 57)
+    
+}    
+
+void handleUserRFResponse(char sender, char broadcast_message, char success, char id, char is_command, char function, char * data, char length){
+    // A 'user' RF Response has been received:  write the code here to process it
+    // sender = ID of the sender, range 0 to 31
+    // broadcast_message = 1 is message sent to all robots, 0 otherwise
+    // success = 1 if operation successful, 0 otherwise
+    // id = Message ID, range 0 to 255
+    // is_command = 1 is message is a command, 0 if it is a request.  If RF_ALLOW_COMMANDS is not selected, only requests will be sent to this block
+    // function = The function identifier.  Range 0 to 15
+    // * data = Array containing extra data bytes
+    // length = Length of extra data bytes held (range 0 to 57)
+  
+}    
+
+
+void processRawRFData(char * rstring, char cCount){
+    // A raw RF packet has been received: write the code here to process it
+    // rstring = The received packet
+    // cCount = Packet length
+}
+
+void check_switch()
+{
+    int new_state = 0;
+    if(!switch_up) new_state = 1;
+    if(!switch_upright) new_state = 2;
+    if(!switch_right) new_state = 3;
+    if(!switch_downright) new_state=4;
+    if(!switch_down) new_state=5;
+    if(!switch_downleft) new_state=6;
+    if(!switch_left) new_state=7;
+    if(!switch_upleft) new_state=8;
+    if(!switch_center) new_state=9;
+    if(new_state!=switch_state) {
+        switch_state=new_state;
+        display.set_position(0,8);
+        switch(switch_state) {
+            case 0:
+                display.printf("          ");
+                break;
+            case 1:
+                display.printf("UP        ");
+                break;
+            case 2:
+                display.printf("UP-RIGHT  ");
+                break;
+            case 3:
+                display.printf("RIGHT     ");
+                break;
+            case 4:
+                display.printf("DOWN-RIGHT");
+                break;
+            case 5:
+                display.printf("DOWN      ");
+                break;
+            case 6:
+                display.printf("DOWN-LEFT ");
+                break;
+            case 7:
+                display.printf("LEFT      ");
+                break;
+            case 8:
+                display.printf("UP-LEFT   ");
+                break;
+            case 9:
+                display.printf("CENTER    ");
+                speed_mode ++;
+                if (speed_mode == 4) speed_mode = 0;
+                switch(speed_mode){
+                    case 0: speed = 0.1;break;
+                    case 1: speed = 0.2;break;
+                    case 2: speed = 0.5;break;
+                    case 3: speed = 1.0;break;   
+                }
+                display.set_position(1,0);
+                display.printf("Speed: %.1f",speed);
+                break;
+        }
+        transmit_message();
+    }
+}
+
+void transmit_message()
+{
+    tx_led = 1;
+    switch(switch_state){
+        case 0: send_rf_command_stop(target_id,1);break;
+        case 1: send_rf_command_forward(target_id,1,speed);break;
+        case 5: send_rf_command_backward(target_id,1,speed);break;
+        case 7: send_rf_command_left(target_id,1,speed);break;
+        case 3: send_rf_command_right(target_id,1,speed);break;
+        case 9: send_rf_message(target_id,0x32,"Hello",5);break;
+    }
+    wait(0.1);
+    tx_led=0;
+}
+
+int main()
+{
+    pc.baud(PC_BAUD);
+    display.init_display();
+    display.printf("YORK ROBOTICS LAB   PI-SWARM CONTROLLER Software 0.5");
+    wait(2.0);
+    display.clear_display();
+    display.printf("Command:");
+    rf.rf_init();
+    rf.setFrequency(435000000);
+    rf.setDatarate(57600);
+    setup_switches();
+    switch_ticker.attach( &check_switch , 0.05 );
+    while(1) {
+        myled = 1;
+        // rx_led=1;
+        // tx_led=0;
+        wait(0.5);
+        // rx_led=0;
+        // tx_led=1;
+        myled = 0;
+        wait(0.5);
+    }
+
+}
+
+void setup_switches()
+{
+    switch_center.mode(PullUp);
+    switch_up.mode(PullUp);
+    switch_upleft.mode(PullUp);
+    switch_left.mode(PullUp);
+    switch_downleft.mode(PullUp);
+    switch_down.mode(PullUp);
+    switch_downright.mode(PullUp);
+    switch_right.mode(PullUp);
+    switch_upright.mode(PullUp);
+}
+
+
+void handleData(char * data, char length)
+{
+    display.set_position(1,1);
+    display.write_string(data,length);
+}