Diff: SensorNode.cpp

Revision:

1:fbb17be9a65d

Parent:

0:1f9ada316815

--- a/SensorNode.cpp	Thu Jan 12 20:44:36 2012 +0000
+++ b/SensorNode.cpp	Sun Apr 15 00:12:28 2012 +0000
@@ -1,98 +1,99 @@
-/*
- * File: SensorNode/SensorNode.cpp
- * Author: William Jessup Salisbury
- * Company: Tufts Hybrid Racing Team
- * Copyright: CC BY-NC-SA 3.0
- * Date: 1/12/2012
- */
-
-#include "mbed.h"
-#include "CANProtocol.h"
-#include "SensorNode.h"
-
-SensorNode::SensorNode() : _leftWheel(LW_PIN), _rightWheel(RW_PIN), _can(CAN_RX, CAN_TX), _console(USBTX, USBRX), _leftTicks(0), _rightTicks(0), _leftRevolutions(0), _rightRevolutions(0), _syncID(0)  {
-    /* InterruptIn initialization */
-    _leftWheel.mode(PullUp);
-    _leftWheel.fall(this, &SensorNode::leftTick);
-    _rightWheel.mode(PullUp);
-    _rightWheel.fall(this, &SensorNode::rightTick);
-    
-    /* CAN initialization */
-    _can.attach(this, &SensorNode::canReceive);
-    
-    /* Ticker initialization */
-    _statusTicker.attach(this, &SensorNode::canSend, tickerTimeout);
-    
-    /* Hello, World! */
-    _console.printf("%s\r\n", "SensorNode instantiated");
-}
-
-SensorNode::~SensorNode() {
-    _statusTicker.detach();
-}
-
-void SensorNode::leftTick() {
-    if ( (++_leftTicks % ticksPerRevolution) == 0 ) {
-        _leftTicks = 0;
-        ++_leftRevolutions;
-    }
-}
-
-void SensorNode::rightTick() {
-    if ( (++_rightTicks % ticksPerRevolution) == 0 ) {
-        _rightTicks = 0;
-        ++_rightRevolutions;
-    }
-}
-
-void SensorNode::canSend() {
-    CANMessage msg;
-    msg.id = CAN_STATUS;
-    msg.len = 8;
-    msg.data[0] = 0xD;
-    msg.data[1] = 0xE;
-    msg.data[2] = 0xA;
-    msg.data[3] = 0xD;
-    msg.data[4] = 0xB;
-    msg.data[5] = 0xE;
-    msg.data[6] = 0xE;
-    msg.data[7] = 0xF;
-    if (_can.write(msg)) {
-        _console.printf("%s\r\n", "Message sent.");
-    } else {
-        _console.printf("%s\r\n", "Message send failure.");
-    }
-}
-
-void SensorNode::canReceive() {
-    CANMessage msg;
-
-    if (_can.read(msg)) {
-        _console.printf("%s\n", "Message received.");
-        switch (msg.id) {
-            case CAN_RESET:
-                Reset();
-                break;
-
-            case CAN_SYNC:
-                _syncID = msg.data[0];
-
-                break;
-
-            default:
-                _console.printf("%s\r\n", "Message decode failure.");
-                break;
-        }
-    } else {
-        _console.printf("%s\r\n", "Message recieve failure.");
-        error("%s\r\n", "func:'canReceive()' error: 'Message recieve failure.'");
-    }
-}
-
-void SensorNode::Reset() {
-    _leftTicks = 0;
-    _rightTicks = 0;
-    _leftRevolutions = 0;
-    _rightRevolutions = 0;
-    _can.reset();
+/*
+ * File: SensorNode/SensorNode.cpp
+ * Author: William Jessup Salisbury
+ * Company: Tufts Hybrid Racing Team
+ * Copyright: CC BY-NC-SA 3.0
+ * Date: 1/12/2012
+ */
+
+#include "mbed.h"
+#include "CANProtocol.h"
+#include "SensorNode.h"
+
+SensorNode::SensorNode() : _leftWheel(LW_PIN), _rightWheel(RW_PIN), _can(CAN_RX, CAN_TX), _console(USBTX, USBRX), _leftTicks(0), _rightTicks(0), _leftRevolutions(0), _rightRevolutions(0), _syncID(0)  {
+    /* InterruptIn initialization */
+    _leftWheel.mode(PullUp);
+    _leftWheel.fall(this, &SensorNode::leftTick);
+    _rightWheel.mode(PullUp);
+    _rightWheel.fall(this, &SensorNode::rightTick);
+
+    /* CAN initialization */
+    _can.frequency(CAN_FREQUENCY);
+    _can.attach(this, &SensorNode::canReceive);
+
+    /* Ticker initialization */
+    //_statusTicker.attach(this, &SensorNode::canSend, tickerTimeout);
+
+    /* Hello, World! */
+    _console.printf("%s\r\n", "SensorNode instantiated");
+}
+
+SensorNode::~SensorNode() {
+    _statusTicker.detach();
+}
+
+void SensorNode::leftTick() {
+    if ( (++_leftTicks % ticksPerRevolution) == 0 ) {
+        _leftTicks = 0;
+        ++_leftRevolutions;
+    }
+}
+
+void SensorNode::rightTick() {
+    if ( (++_rightTicks % ticksPerRevolution) == 0 ) {
+        _rightTicks = 0;
+        ++_rightRevolutions;
+    }
+}
+
+void SensorNode::canSend() {
+    CANMessage msg;
+    msg.id = CAN_STATUS;
+    msg.len = 8;
+    msg.data[0] = _syncID;
+    msg.data[1] = 0xE;
+    msg.data[2] = 0xA;
+    msg.data[3] = 0xD;
+    msg.data[4] = 0xB;
+    msg.data[5] = 0xE;
+    msg.data[6] = 0xE;
+    msg.data[7] = 0xF;
+    if (_can.write(msg)) {
+        _console.printf("%s\r\n", "Message sent.");
+    } else {
+        _console.printf("%s\r\n", "Message send failure.");
+    }
+}
+
+void SensorNode::canReceive() {
+    CANMessage msg;
+
+    if (_can.read(msg)) {
+        switch (msg.id) {
+            case CAN_RESET:
+                _console.printf("%s\r\n", "CAN_RESET Message received.");
+                Reset();
+                break;
+
+            case CAN_SYNC:
+                _console.printf("%s\r\n", "CAN_SYNC Message received.");
+                _syncID = msg.data[0];
+                canSend();
+                break;
+
+            default:
+                _console.printf("%s\r\n", "Message decode failure.");
+                break;
+        }
+    } else {
+        _console.printf("%s\r\n", "Message recieve failure.");
+    }
+}
+
+void SensorNode::Reset() {
+    _leftTicks = 0;
+    _rightTicks = 0;
+    _leftRevolutions = 0;
+    _rightRevolutions = 0;
+    _can.reset();
 }
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