Diff: main.cpp

Revision:

1:9ffff91aeeb2

Parent:

0:ce2085295a51

Child:

2:2bf280435a91

--- a/main.cpp	Thu Mar 10 14:20:19 2016 +0000
+++ b/main.cpp	Tue Mar 22 12:01:02 2016 +0000
@@ -1,84 +1,216 @@
 #include "mbed.h"
+#include "C12832.h"
+#include "XBee.h"
 
 DigitalOut myled1(LED1);
 DigitalOut myled2(LED2);
 DigitalOut myled3(LED3);
 DigitalOut myled4(LED4);
 
-DigitalIn down(p12);
-DigitalIn left(p13);
-DigitalIn up(p15);
-DigitalIn right(p16);
+InterruptIn down(p12);
+InterruptIn left(p13);
+InterruptIn up(p15);
+InterruptIn right(p16);
 
 Serial xbee(p9,p10);
 
+C12832 lcd(p5, p7, p6, p8, p11);    //Used for the LCD
+
 char Source=0b00000010;
-char Des,Item,Status,Checksum;
+char Des=0b00000001;
+char Item,Status,Checksum;
+
+bool sending=1;
 
+char control[4];
+int teller;
 
+Timer t;
 
 void send(){
     xbee.putc(0x7E);
-    myled1=1;
-    wait(0.01);
     xbee.putc(Source);
-    myled2=1;
-    wait(0.01);
     xbee.putc(Des);
-    myled3=1;
-    wait(0.01);
     xbee.putc(Item);
-    myled4=1;
-    wait(0.01);
     xbee.putc(Status);
-    myled1=0;
-    wait(0.01);
     xbee.putc(Checksum);
-    myled2=0;
-    wait(0.1);
     xbee.putc(0x7E);
-    myled3=0;
-    wait(0.1);
-    xbee.putc(0xD);
-    myled4=0;
+}
+
+ void CalChecksumup(){
+    Status=0b00000000;
+    myled1=1;
+    lcd.cls();
+    lcd.locate(0,3);
+    if(up.read()&&!left.read()&&!right.read()){
+        lcd.printf("up");
+        Item=0b00000000;
+    }
+    if(up.read()&&right.read()){
+        lcd.printf("upright");
+        Item=0b00000001;
+    }
+    if(right.read()&&!up.read()&&!down.read()){
+        lcd.printf("right");
+        Item=0b00000010;
+    }
+    if(down.read()&&right.read()){
+        lcd.printf("downright");
+        Item=0b00000011;
+    }
+    if(down.read()&&!left.read()&&!right.read()){
+        lcd.printf("down");
+        Item=0b00000100;
+    }
+    if(down.read()&&left.read()){
+        lcd.printf("downleft");
+        Item=0b00000101;
+    }
+    if(left.read()&&!up.read()&&!down.read()){
+        lcd.printf("left");
+        Item=0b00000110;
+    }
+    if(up.read()&&left.read()){
+        lcd.printf("upleft");
+        Item=0b00000111;
+    }
+    Checksum=(Source+Des+Item+Status)%255;
+    sending=0;
+    send();
+    t.start();
+}
+
+ void CalChecksumdown(){
+    Status=0b00000001;
+    myled1=0;
+    lcd.cls();
+    lcd.locate(0,3);
+    if(Item==0b00000000){
+        lcd.printf("back");
+        Item=0b00000000;
+    }
+    if(Item==0b00000001){
+        lcd.printf("back");
+        Item=0b00000001;
+        if(up.read()){
+            Item=0b00000000;
+            Status=0b00000000;
+            send();
+        }
+        if(right.read()){
+            Item=0b00000010;
+            Status=0b00000000;
+            send();
+        }
+    }
+    if(Item==0b00000010){
+        lcd.printf("back");
+        Item=0b00000010;
+    }
+    if(Item==0b00000011){
+        if(right.read()){
+            Item=0b00000010;
+            Status=0b00000000;
+            send();
+        }
+        if(down.read()){
+            Item=0b00000100;
+            Status=0b00000000;
+            send();
+        }
+        lcd.printf("back");
+        Item=0b00000011;
+    }
+    if(Item==0b00000100){
+        lcd.printf("back");
+        Item=0b00000100;
+    }
+    if(Item==0b00000101){
+        if(down.read()){
+            Item=0b00000100;
+            Status=0b00000000;
+            send();
+        }
+        if(left.read()){
+            Item=0b00000110;
+            Status=0b00000000;
+            send();
+        }
+        lcd.printf("back");
+        Item=0b00000101;
+    }
+    if(Item==0b00000110){
+        lcd.printf("back");
+        Item=0b00000110;
+    }
+    if(Item==0b00000111){
+        if(left.read()){
+            Item=0b00000110;
+            Status=0b00000000;
+            send();
+        }
+        if(up.read()){
+            Item=0b00000000;
+            Status=0b00000000;
+            send();
+        }
+        lcd.printf("back");
+        Item=0b00000111;
+    }
+    Checksum=(Source+Des+Item+Status)%255;
+    sending=0;
+    send();
+    t.start();
 }
 
 int main() {
+    xbee.baud(57600);
     while(1) {
-        xbee.baud(57600);
-        if(up&&!left&&!right){
-            myled1 = 1;
-        }
-        if(up&&right){
-            myled1=1;
-            myled2=1;
-        }
-        if(right&&!up&&!down){
-            myled2 = 1;
-        }
-        if(down&&right){
-            myled2=1;
-            myled3=1;
-        }
-        if(down&&!left&&!right){
-            myled3 = 1;
+        if(sending){
+            up.rise(&CalChecksumup);
+            up.fall(&CalChecksumdown);
+            down.rise(&CalChecksumup);
+            down.fall(&CalChecksumdown);
+            left.rise(&CalChecksumup);
+            left.fall(&CalChecksumdown);
+            right.rise(&CalChecksumup);
+            right.fall(&CalChecksumdown);
         }
-        if(down&&left){
-            myled3=1;
-            myled4=1;
-        }
-        if(left&&!up&&!down){
-            myled4 = 1;
+        if(!sending){
+            if(xbee.readable()) {       //Checks if the data is readable
+                xbee.gets(control,5);        //Get the first character that's in the buffer
+                if(control[3]==0b00001111){
+                    sending=1;
+                    lcd.cls();
+                    lcd.locate(0,3);
+                    lcd.printf("ACK");
+                    t.stop();
+                    t.reset();
+                    teller=0;
+                }
+                if(control[3]==0b11110000){
+                    lcd.cls();
+                    lcd.locate(0,3);
+                    lcd.printf("NACK");
+                    if(teller<10){
+                        send();
+                        teller++;
+                    }
+                    if(teller==10){
+                        sending=1;
+                        teller=0;
+                    }   
+                    lcd.cls();
+                    lcd.locate(0,3);
+                    lcd.printf("NO REACTION");
+                }
+            }   
         }
-        if(up&&left){
-            myled1=1;
-            myled4=1;
+        if(t>=1){
+            t.stop();
+            t.reset();
+            send();
+            t.start();
         }
-        wait(0.2);
-        myled1=0;
-        myled2=0;
-        myled3=0;
-        myled4=0;
-        send();
     }
-}
+}
\ No newline at end of file