NeerajRathi IUPUI/ECE
/
ROBO_ARM_Rx
This is a Receiver Code for ROBO_ARM.
main.cpp
- Committer:
- nrrathi
- Date:
- 2016-05-09
- Revision:
- 0:6e6d30df73c4
File content as of revision 0:6e6d30df73c4:
#include "mbed.h" #include "nRF24L01P.h" #define V_SERVO_CENTER 1800 #define V_SERVO_MAX 2200 #define V_SERVO_MIN 800 #define H_SERVO_CENTER 1600 #define H_SERVO_MAX 2200 #define H_SERVO_MIN 800 #define TRANSFER_SIZE 9 Serial pc(USBTX, USBRX); // tx, rx nRF24L01P my_nrf24l01p(PTD6, PTD7, PTD5, PTD4, PTC12, PTC18); // mosi, miso, sck, csn, ce, irq DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); PwmOut v_servo(PTC2); PwmOut h_servo(PTA2); int main() { myled1 = 1; myled2 = 1; myled3 = 0; pc.baud(115200); char rxData[TRANSFER_SIZE]; int rxDataCnt = 0; my_nrf24l01p.setRxAddress(0xDEADBEEF0F); my_nrf24l01p.powerUp(); // Display the (default) setup of the nRF24L01+ chip 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() ); pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() ); pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() ); pc.printf( "This is the Receiver\r\n"); my_nrf24l01p.setTransferSize( TRANSFER_SIZE ); my_nrf24l01p.setReceiveMode(); my_nrf24l01p.enable(); v_servo.period_us(20000); // servo requires a 20ms period v_servo.pulsewidth_us(V_SERVO_CENTER); h_servo.period_us(20000); // servo requires a 20ms period h_servo.pulsewidth_us(H_SERVO_CENTER); int v_pulse = V_SERVO_CENTER; int h_pulse = H_SERVO_CENTER; v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms wait(0.5); int32_t acc_x, acc_y; while (1) { // If we've received anything in the nRF24L01+... if ( my_nrf24l01p.readable() ) { pc.printf("I just received data"); // ...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 acc_x = (int32_t)((rxData[0])|(rxData[1]<<8)|(rxData[2]<<16)|(rxData[3]<<24)); acc_y = (int32_t)((rxData[4])|(rxData[5]<<8)|(rxData[6]<<16)|(rxData[7]<<24)); pc.printf("%d\t%d\t- \n\r",acc_x,acc_y); pc.printf("%01x %01x %01x %01x %01x %01x\n\r",rxData[1],rxData[0],rxData[3],rxData[2],rxData[5],rxData[4]); v_pulse = V_SERVO_CENTER + acc_x; h_pulse = H_SERVO_CENTER + acc_y; if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN; if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX; if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN; if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX; v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms pc.printf("%d\t%d\t\n\r",v_pulse,h_pulse); } } }