Diff: main.cpp

Revision:

3:fdd8560c4739

Parent:

2:e309f19062b7

--- a/main.cpp	Fri Dec 04 08:16:27 2020 +0000
+++ b/main.cpp	Wed Apr 21 11:41:46 2021 +0000
@@ -1,25 +1,44 @@
+/*
+RobotCup ENS Paris Saclay 2020-2021
+Team FC Furious
+Code by Luc DERRIEN
+
+Programme communication PC-Robot
+Point de vue : robot
+micro controleur : L475
+
+reception d'une chaine de caractère de taille TRANSFER_SIZE = 20
+forme : id_robot, v_tangent, v_normale, omega_robot, spiner_bool, v_tir
+ - id_robot : 1 ou 2 (taille 1)
+ - v_tangent : 0000 à 9999 (taille 4)
+ - v_normale : 0000 à 9999 (taille 4)
+ - omega_robot : 0000 à 9999 (taille 4)
+ - spiner_bool : 0 ou 1 (taille 1)
+ - v_tir = 1 à 9 (taille 1)
+*/
+
 #include "mbed.h"
 #include "nRF24L01P.h"
 
 Serial pc(USBTX, USBRX); // tx, rx
 
 //Définition des E/S de la liaison SPI vers le module nRF24L01+
-nRF24L01P my_nrf24l01p(D11, D12, D13, A3, D9, A0);    // mosi, miso, sck, csn, ce, irq
-
-DigitalOut myled1(D4);
-DigitalOut myled2(D5);
+nRF24L01P my_nrf24l01p(D11, D12, D13, D9, D2, D1);    // mosi, miso, sck, csn, ce, irq
 
 int main() {
 
 // Nombre de caractères transmis à chaque envoi
-#define TRANSFER_SIZE   4
+#define TRANSFER_SIZE   20
 
     char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
     int txDataCnt = 0;
     int rxDataCnt = 0;
+    int id_robot, v_tangent, v_normale, omega_robot, spiner_bool, v_tir ;
+    int consigneData[6];
     
     pc.baud(115200); // Débit de la liaison série PC
 
+    
     my_nrf24l01p.powerUp();
     
     my_nrf24l01p.setRfFrequency(2416); // Définition de la fréquence du canal d'E/R
@@ -27,6 +46,7 @@
     
 
     // Affichage de l'état de la configuration du nRF24L01+ 
+    pc.printf( "_______________________\r\nCarte robot 1 :\r\n_______________________\r\n" );
     pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  my_nrf24l01p.getRfFrequency() );
     pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  my_nrf24l01p.getRfOutputPower() );
     pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", my_nrf24l01p.getAirDataRate() );
@@ -43,40 +63,36 @@
 
     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+
-                my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, txDataCnt );
-
-                txDataCnt = 0;
-            }
-
-            // Toggle LED1 (to help debug Host -> nRF24L01+ communication)
-            myled1 = !myled1;
-        }
-
         // If we've received anything in the nRF24L01+2...
         if ( my_nrf24l01p.readable() ) {
-
+            
             // ...read the data into the receive buffer
             rxDataCnt = my_nrf24l01p.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++ ) {
+            if(sscanf(rxData, "%d,%d,%d,%d,%d,%d",&id_robot,&v_tangent,&v_normale,&omega_robot,&spiner_bool,&v_tir)==6){ // lecture et parsing de la chaîne
+            
+            consigneData[0] = id_robot;
+            if (v_tangent > 999) {
+                v_tangent = - (v_tangent - 1000);
+                }
+            consigneData[1] = v_tangent;
+            
+            if (v_normale > 999) {
+                v_normale = - (v_normale - 1000);
+                }
+            consigneData[2] = v_normale;
+            
+            if (omega_robot > 999) {
+                omega_robot = - (omega_robot - 1000);
+                }
+            consigneData[3] = omega_robot;
+            
+            consigneData[4] = spiner_bool;
+            consigneData[5] = v_tir; }
+            
+            rxDataCnt = 0;
 
-                pc.putc( rxData[i] );
-            }
 
-            // Toggle LED2 (to help debug nRF24L01+ -> Host communication)
-            myled2 = !myled2;
         }
+        
     }
 }