Racing Robots remote control using xbee and API mode
Dependencies: XBeeLib mbed racing_robots
main.cpp
- Committer:
- sillevl
- Date:
- 2016-05-19
- Revision:
- 1:47dae7bc4964
- Parent:
- 0:cff20bebf3e4
File content as of revision 1:47dae7bc4964:
#include "robot_logic.h" #include <cstdint> #include "mbed.h" #include "XBeeLib.h" #if defined(ENABLE_LOGGING) #include "DigiLoggerMbedSerial.h" using namespace DigiLog; #endif using namespace XBeeLib; DigitalOut led1(LED1); Serial *log_serial; Timeout stopper; /** Callback function, invoked at packet reception */ static void receive_cb(const RemoteXBeeZB& remote, bool broadcast, const uint8_t *const data, uint16_t len) { const uint64_t remote_addr64 = remote.get_addr64(); log_serial->printf("\r\nGot a %s RX packet [%08x:%08x|%04x], len %d\r\nData: ", broadcast ? "BROADCAST" : "UNICAST", UINT64_HI32(remote_addr64), UINT64_LO32(remote_addr64), remote.get_addr16(), len); for (int i = 0; i < len; i++) log_serial->printf("%02x ", data[i]); log_serial->printf("\r\n"); switch(data[0]){ case 0x10: // speed + turnradius int speed = int32_t((int8_t) data[1]); int turnspeed = int32_t((int8_t) data[2]); drive(speed); turn(turnspeed); stopper.attach(&stop, 0.1); break; } } int speed; void init() { } void loop() { log_serial = new Serial(DEBUG_TX, DEBUG_RX); log_serial->baud(9600); log_serial->printf("Sample application to demo how to receive unicast and broadcast data with the XBeeZB\r\n\r\n"); log_serial->printf(XB_LIB_BANNER); #if defined(ENABLE_LOGGING) new DigiLoggerMbedSerial(log_serial, LogLevelInfo); #endif XBeeZB xbee = XBeeZB(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, 9600); /* Register callbacks */ xbee.register_receive_cb(&receive_cb); RadioStatus const radioStatus = xbee.init(); MBED_ASSERT(radioStatus == Success); /* Wait until the device has joined the network */ log_serial->printf("Waiting for device to join the network: "); while (!xbee.is_joined()) { wait_ms(1000); log_serial->printf("."); } log_serial->printf("OK\r\n"); led1 = 1; while (true) { xbee.process_rx_frames(); } delete(log_serial); }