Diff: SensorNode.cpp

Revision:

0:1f9ada316815

Child:

1:fbb17be9a65d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SensorNode.cpp	Thu Jan 12 20:44:36 2012 +0000
@@ -0,0 +1,98 @@
+/*
+ * 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();
+}
\ No newline at end of file