kyle johnson
WirelessComs For David
Dependencies: EthernetNetIf Queue Servo mbed
Revision 0:8101522bb770, committed 2013-01-29
- Comitter:
- johnson6987
- Date:
- Tue Jan 29 18:24:44 2013 +0000
- Child:
- 1:b8ce18c28de9
- Commit message:
- For David
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EthernetNetIf.lib Tue Jan 29 18:24:44 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mamezu/code/EthernetNetIf/#0737122e66aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Queue.lib Tue Jan 29 18:24:44 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/wbasser/code/Queue/#9877a4bf36db
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Tue Jan 29 18:24:44 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#d43f850019b6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jan 29 18:24:44 2013 +0000
@@ -0,0 +1,133 @@
+#include "mbed.h"
+#include "EthernetNetIf.h"
+#include "UDPSocket.h"
+#include "queue.h"
+#include "Servo.h"
+
+Ticker NetPoll;
+Timer ErrorTime;
+Queue UDP_queue(256,20);
+Serial pc(USBTX, USBRX);
+EthernetNetIf * eth;
+UDPSocket UDP;
+Host Robot;
+Servo ML(p21);
+Servo MR(p22);
+
+DigitalOut leds[] = {(p10),(p11),(p12),(p13),(p14),(p15),(p16),(p17)};
+
+char messageBufferIncoming[256];
+
+struct Joystick {
+ float axis[4];
+ float button[12];
+};
+
+
+Joystick Joy;
+void messageProcess(void)
+{
+
+ ErrorTime.reset();
+ // pc.printf("%s\r\n",messageBufferIncoming);
+ sscanf(messageBufferIncoming,"%f%f%f%f",\
+ &Joy.axis[0],\
+ &Joy.axis[1],\
+ &Joy.axis[2],\
+ &Joy.axis[3]);
+
+ pc.printf("%f %f %f %f\r\n", Joy.axis[0],Joy.axis[1],Joy.axis[2],Joy.axis[3]);
+ /*
+ sscanf(messageBufferIncoming,"%f%f%f%f%f%f%f%f%f%f%f%f%f%f%f%f",\
+ &Joy.axis[0],\
+ &Joy.axis[1],\
+ &Joy.axis[2],\
+ &Joy.axis[3],\
+ &Joy.button[0],\
+ &Joy.button[1],\
+ &Joy.button[2],\
+ &Joy.button[3],\
+ &Joy.button[4],\
+ &Joy.button[5],\
+ &Joy.button[6],\
+ &Joy.button[7],\
+ &Joy.button[8],\
+ &Joy.button[9],\
+ &Joy.button[10],\
+ &Joy.button[11]);
+
+ */
+
+ /*
+ float A=Joy.axis[1];
+ float B=Joy.axis[0];
+ if (A<.1 && B<.1 && B>-.1 && A>-.1) {
+ MR=.5;
+ ML=.5;
+ } else {
+
+ if (A>.1 || A<-.1) {
+ ML=1-(A+1)/2;
+ MR=(A+1)/2;
+ }
+ if (B>.25 || B<-.25) {
+ ML=1-(B+1)/2;
+ MR=1-(B+1)/2;
+ }
+ }
+
+ */
+ ML=1;
+ MR=0;
+ for (int x=0; x<8; x++) {
+ leds[x]=(bool)Joy.button[x];
+ }
+}
+
+void onUDPSocketEvent(UDPSocketEvent e)
+{
+ switch (e) {
+ case UDPSOCKET_READABLE: //The only event for now
+ char buf[256] = {0};
+ Host host;
+ while ( int len = UDP.recvfrom( buf, 255, &host ) ) {
+ if ( len <= 0 )
+ break;
+ UDP_queue.Put(buf);
+ }
+ break;
+ }
+}
+
+
+int main()
+{
+
+ eth = new EthernetNetIf(
+ IpAddr(IpAddr(192,168,1,102)), // My IP Address
+ IpAddr(IpAddr(255,255,255,0)), //Network Mask
+ IpAddr(IpAddr(192,168,1,2)), //Gateway
+ IpAddr(IpAddr()) //DNS
+ );
+ Robot.setIp(IpAddr(192,168,1,102));
+ Robot.setPort(12345);
+
+ eth->setup();
+ UDP.setOnEvent(&onUDPSocketEvent);
+ UDP.bind(Robot);
+ NetPoll.attach_us(&Net::poll,500);
+
+ ErrorTime.start();
+
+ while (1) {
+ if ( UDP_queue.Get(messageBufferIncoming))messageProcess();
+ if (ErrorTime.read()>.2) {
+ MR=.50;
+ ML=0.5;
+ for (int x=0; x<8; x++)leds[x]=0;
+ ErrorTime.reset();
+ }
+
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Jan 29 18:24:44 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479 \ No newline at end of file