Lukas Seyfrid
semestralna praca
Diff: main.cpp
- Revision:
- 5:8c5c19be2126
- Parent:
- 4:dee1ebc51d2e
- Child:
- 6:8c336acc90f9
--- a/main.cpp Mon Dec 11 15:13:35 2017 +0000
+++ b/main.cpp Fri Jan 05 13:11:52 2018 +0000
@@ -8,7 +8,7 @@
-int prijmi;
+
int getCrc(int addrRx, int addrTx, int dataSize, int aData[])
{
@@ -62,22 +62,13 @@
}
}
-void prerusVysielanie()
+void prijmiSpravu()
{
prijmi = 1;
for(int i = 0; i < 4; i++) {
adresa[i] = term.getc();
- if(adresa[i] == W_1_BUTTON){smerDole();}
- else if(adresa[i]== W_2_BUTTON)
- {
-
- smerHore();
-
- if(adresa[i] == 0xE2){stop();}
- }
-
}
@@ -86,35 +77,247 @@
}else{
for(int i = 0; i < adresa[3]; i++){
sprava[i]=term.getc();
-
}
adresa[4]=term.getc();
-
if(adresa[4] == getCrc(adresa[1], adresa[2],adresa[3],sprava)){
-
+
}
-
}
-
+
+ nice();
}
+void nice(){
+
+
+ if(p_0 == 1)
+ {
+ if (dajPoschodie() == SWITCH_P){
+ ledPoff();
+ ledPoffC();
+ stop();
+ odomkniVytah() ;
+ p_0 = 0;
+ }
+
+ }
+
+
+ if(p_1 == 1)
+ {
+ if (dajPoschodie() == SWITCH_1){
+ led1off();
+ led1offC();
+ stop();
+ odomkniVytah() ;
+ p_1 = 0;
+ }
+
+ }
+
+ if(p_2 == 1)
+ {
+ if (dajPoschodie() == SWITCH_2){
+ led2off();
+ led2offC();
+ stop();
+ odomkniVytah() ;
+ p_2 = 0;
+ }
+
+ }
+
+ if (p_3 == 1){
+
+ if (dajPoschodie() == SWITCH_3){
+ led3off();
+ led3offC();
+ stop();
+ odomkniVytah() ;
+ p_3 = 0;
+ }
+ }
+
+ if(p_4 == 1)
+ {
+ if (dajPoschodie() == SWITCH_4){
+ led4off();
+ led4off();
+ stop();
+ odomkniVytah() ;
+ p_4 = 0;
+ }
+
+ }
+
+ }
+void tlacitka()
+{
+ switch(adresa[2])
+ {
+ case W_P_BUTTON:
+ {
+ p_0 = 1;
+ smerDole();
+ ledPon();
+
+ break;
+ }
+
+ case W_1_BUTTON:
+ {
+ p_1 = 1;
+ smerHore();
+ led1on();
+ break;
+ }
+
+ case W_2_BUTTON:
+ {
+ p_2 = 1;
+ smerDole();
+ led2on();
+ break;
+ }
+
+ case W_3_BUTTON:
+ {
+ p_3 = 1;
+
+ smerDole();
+ led3on();
+
+ break;
+ }
+
+ case W_4_BUTTON:
+ {
+ p_4 = 1;
+ smerHore();
+ led4on();
+ break;
+ }
+
+ case C_P_BUTTON:
+ {
+ p_0 = 1;
+ smerHore();
+ ledPon();
+ break;
+ }
+
+ case C_1_BUTTON:
+ {
+ p_1 = 1;
+ smerHore();
+ led1on();
+ break;
+ }
+
+ case C_2_BUTTON:
+ {
+ p_2 = 1;
+ smerHore();
+ led2on();
+ break;
+ }
+
+ case C_3_BUTTON:
+ {
+ p_3 = 1;
+ smerHore();
+ led3on();
+ break;
+ }
+
+ case C_4_BUTTON:
+ {
+ p_4 = 1;
+ smerHore();
+ led4on();
+ break;
+ }
+
+
+
+
+ }
+
+ }
+
+
+
+
+int dajPoschodie()
+{
+ int poschodie;
+
+ switch(adresa[2])
+ {
+ case SWITCH_P:
+ {
+ poschodie = SWITCH_P;
+ cisloPochodia_dislpej = 0;
+ break;
+ }
+
+ case SWITCH_1:
+ {
+ poschodie = SWITCH_1;
+ cisloPochodia_dislpej = 1;
+ break;
+ }
+ case SWITCH_2:
+ {
+ poschodie = SWITCH_2;
+ cisloPochodia_dislpej = 2;
+ break;
+ }
+
+ case SWITCH_3:
+ {
+ poschodie = SWITCH_3;
+ cisloPochodia_dislpej = 3;
+ break;
+ }
+ case SWITCH_4:
+ {
+ poschodie = SWITCH_4;
+ cisloPochodia_dislpej = 4;
+ break;
+ }
+
+
+
+ }
+
+ return poschodie;
+
+ }
+
int main() {
term.baud(57600);
-
+ term.attach(&prijmiSpravu, Serial::RxIrq);
//int aDataIn[] = {*prerusVysielanie()};
// int dataSize1 = ARRAY_SIZE(aDataIn);
// posliSpravu(0xD0,0xAA,dataSize1,aDataIn);
-
- prerusVysielanie();
+
+ while(1){
+ //prijmi = 0;
+ tlacitka();
+ }
+
+
+
@@ -131,10 +334,7 @@
void smerHore()
{
- //int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
- //int dataSize1 = ARRAY_SIZE(aDataIn);
- //posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
-
+
pohyb++;
if(pohyb_flag == 0){
pohyb_flag = 1;
@@ -253,4 +453,153 @@
}
disp_poschodie = cisloPochodia_dislpej;
display_smer = pohyb_flag;
- }
\ No newline at end of file
+}
+/*************************************************************/
+void ledPon()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x10,0xAA,dataSize1,aDataIn);
+ }
+
+ void led1on()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x11,0xAA,dataSize1,aDataIn);
+ }
+
+ void led2on()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x12,0xAA,dataSize1,aDataIn);
+ }
+
+ void led3on()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x13,0xAA,dataSize1,aDataIn);
+ }
+
+ void led4on()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x14,0xAA,dataSize1,aDataIn);
+ }
+
+
+
+ void ledPoff()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x10,0xAA,dataSize1,aDataIn);
+ }
+
+ void led1off()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x11,0xAA,dataSize1,aDataIn);
+ }
+
+ void led2off()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x12,0xAA,dataSize1,aDataIn);
+ }
+
+ void led3off()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x13,0xAA,dataSize1,aDataIn);
+ }
+
+ void led4off()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x14,0xAA,dataSize1,aDataIn);
+ }
+
+
+ /************************************************************************************/
+
+
+ void ledPonC()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x20,0xAA,dataSize1,aDataIn);
+ }
+
+ void led1onC()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x21,0xAA,dataSize1,aDataIn);
+ }
+
+ void led2onC()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x22,0xAA,dataSize1,aDataIn);
+ }
+
+ void led3onC()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x23,0xAA,dataSize1,aDataIn);
+ }
+
+ void led4onC()
+{
+ int aDataIn[] = {0x1};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x24,0xAA,dataSize1,aDataIn);
+ }
+
+
+
+ void ledPoffC()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x20,0xAA,dataSize1,aDataIn);
+ }
+
+ void led1offC()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x21,0xAA,dataSize1,aDataIn);
+ }
+
+ void led2offC()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x22,0xAA,dataSize1,aDataIn);
+ }
+
+ void led3offC()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x23,0xAA,dataSize1,aDataIn);
+ }
+
+ void led4offC()
+{
+ int aDataIn[] = {0x0};
+ int dataSize1 = ARRAY_SIZE(aDataIn);
+ posliSpravu(0x24,0xAA,dataSize1,aDataIn);
+ }
+
\ No newline at end of file