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pines
Dependencies: HMC5883L111 RF24 RF24Network mbed motoresDC
Fork of RF24Network_Send by
main.cpp
- Committer:
- tabris2015
- Date:
- 2016-06-10
- Revision:
- 4:6341e80540be
- Parent:
- 3:d605536db315
File content as of revision 4:6341e80540be:
#define MAPLE_MINI #include "pines.h" #include "mbed.h" #include <HMC5883L.h> #include <RF24Network.h> #include <RF24.h> #include <motoresDC.h> Serial pc(TX3_PIN, RX3_PIN); HMC5883L brujula; InterruptIn boton(PB_8); //motores D27 D31 D30 D26 D29 D28 MotoresDC carro(PWM_L, CTRL1_L, CTRL2_L, PWM_R, CTRL1_R, CTRL2_R); PwmOut led(PB_1); DigitalOut status(PB_2); RF24 radio(spi_MOSI, spi_MISO, spi_SCK, nrf_CE, nrf_CSN ); // Network uses that radio RF24Network network(radio); // Address of our node const uint16_t this_node = 01; // Address of the other node const uint16_t other_node = 00; // How often to send payload packet to the other unit const unsigned long interval = 100; //ms // When did we last send? unsigned long last_sent; Timer t; // How many have we sent already unsigned long packets_sent; Timer t_packet; // Structure of our payload struct payload_t { unsigned long ms; unsigned long counter; double heading; }; volatile double heading; volatile unsigned int flag = 0; // functions void toggle(void) { flag = 1; heading = brujula.getHeading(); } void initP() { led = 1; boton.fall(toggle); brujula.init(); carro.conducir(1); wait_ms(1000); carro.conducir(0); led = 0; wait_ms(500); led = 1; radio.begin(); network.begin(/*channel*/ 90, /*node address*/ this_node); carro.conducir(-1); wait_ms(2000); t.start(); t_packet.start(); status = 0; led = 0; carro.conducir(0); } void checkMessage() { while ( network.available() ) { // If so, grab it and print it out RF24NetworkHeader header_rx; payload_t payload_rx; network.read(header_rx,&payload_rx,sizeof(payload_rx)); carro.conducir(payload_rx.heading / 360.0); status = abs(payload_rx.heading) < 5.0 ? 1 : 0; } } //------ bool sendMessage(double angulo) { led = !led; t.reset(); payload_t payload_tx; payload_tx.ms = t_packet.read_ms(); payload_tx.counter = packets_sent++; payload_tx.heading = angulo; RF24NetworkHeader header_tx(/*to node*/ other_node); bool ok = network.write(header_tx,&payload_tx,sizeof(payload_tx)); flag = 0; led = 0; return ok; } int main() { initP(); while(1) { // Pump the network regularly network.update(); checkMessage(); /* If it's time to send a message, send it! */ double angulo = brujula.getHeading(); led = angulo / 360.0; unsigned long now = t.read_ms(); if ( (now - last_sent) > interval ) { last_sent = now; bool ok = sendMessage(angulo); } /* if(abs(angulo) < 4) { led = 1; } else { led = 0; } */ } }