main.cpp

/*   ~ Xbee Transmitter for Crane Robot ~

  Ardunio reads analog readinds of joysticks and Xbee transmits a serial line for the reciver xbee to decode. 
  
  Omari Hodge                  */

int vertCar = A0; // forward and backward motions of car
int horzCar = A1; //turning motions of car
int vertCrane = A2; //up and down of crane
int horzCrane = A3; //rotation of crane
int wrist1 = 2;
int wrist2 = 3;


//Variable holders for the potentiometers:
int horzCarr ; //Value from pot
int vertCarr ; //Value from pot
int horzCraner ; //Value from pot
int vertCraner ; //Value from pot
int wrist1r ;
int wrist2r ;

void setup() {
  pinMode(wrist1,INPUT_PULLUP); 
  pinMode(wrist2,INPUT_PULLUP); 
  //Start the serial communication
  Serial.begin(9600); //Baud rate must be the same as is on xBee module

}

void loop() {
    
    //Read the analog value from pot and store it to respective variables
    horzCarr = analogRead(horzCar);
    vertCarr = analogRead(vertCar);
    horzCraner = analogRead(horzCrane);
    vertCraner = analogRead(vertCrane);
    
    if (digitalRead(wrist1) == HIGH)
      wrist1r = 35;
    else 
      wrist1r = 36;

    if (digitalRead(wrist2) == HIGH)
      wrist2r = 35;
    else 
      wrist2r = 36;
    
    //Map the analog value to char range
    horzCarr = map (horzCarr, 0, 1023, 33, 126);
    vertCarr = map (vertCarr, 0, 1023, 33, 126);
    horzCraner = map (horzCraner, 0, 1023, 33, 126);
    vertCraner = map (vertCraner, 0, 1023, 33, 126);

  //Send the message:
  Serial.write('<');  //Starting symbol
  Serial.write('a');
  Serial.write(horzCarr);
  Serial.write(' ');
  Serial.write('b');
  Serial.write(vertCarr);
  Serial.write(' ');
  Serial.write('c');
  Serial.write(horzCraner);
  Serial.write(' ');
  Serial.write('d');
  Serial.write(vertCraner);
  Serial.write(' ');
  Serial.write('e');
  Serial.write(wrist1r);
  Serial.write(' ');
  Serial.write('f');
  Serial.write(wrist2r);
  Serial.println('>');//Ending symbol


}