NeerajRathi IUPUI/ECE
This is a Receiver Code for ROBO_ARM.
Revision 0:6e6d30df73c4, committed 2016-05-09
- Comitter:
- nrrathi
- Date:
- Mon May 09 16:01:57 2016 +0000
- Commit message:
- This is a Receiver Code.
Changed in this revision
diff -r 000000000000 -r 6e6d30df73c4 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon May 09 16:01:57 2016 +0000
@@ -0,0 +1,97 @@
+#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);
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 6e6d30df73c4 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon May 09 16:01:57 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/aae6fcc7d9bb \ No newline at end of file
diff -r 000000000000 -r 6e6d30df73c4 nRF24L01P.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nRF24L01P.lib Mon May 09 16:01:57 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/pabloamr/code/nRF24L01P/#8d55f1f49a33