Jose Eduardo Laruta Espejo
pines
Dependencies: HMC5883L111 RF24 RF24Network mbed motoresDC
Fork of
RF24Network_Send
by 
Akash Vibhute
Revision 4:6341e80540be, committed 2016-06-10
- Comitter:
- tabris2015
- Date:
- Fri Jun 10 22:16:34 2016 +0000
- Parent:
- 3:d605536db315
- Commit message:
- pines maple;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.lib Fri Jun 10 22:16:34 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/tabris2015/code/HMC5883L111/#5a8279a48b30
--- a/RF24.lib Thu Nov 05 05:59:18 2015 +0000 +++ b/RF24.lib Fri Jun 10 22:16:34 2016 +0000 @@ -1,1 +1,1 @@ -http://developer.mbed.org/users/akashvibhute/code/RF24/#e94be00fd19e +http://developer.mbed.org/users/akashvibhute/code/RF24/#5cc7136648d1
--- a/RF24Network.lib Thu Nov 05 05:59:18 2015 +0000 +++ b/RF24Network.lib Fri Jun 10 22:16:34 2016 +0000 @@ -1,1 +1,1 @@ -http://developer.mbed.org/users/akashvibhute/code/RF24Network/#dfc8da7ac18c +http://developer.mbed.org/users/akashvibhute/code/RF24Network/#b1110d26a900
--- a/main.cpp Thu Nov 05 05:59:18 2015 +0000
+++ b/main.cpp Fri Jun 10 22:16:34 2016 +0000
@@ -1,14 +1,20 @@
+#define MAPLE_MINI
+#include "pines.h"
#include "mbed.h"
+#include <HMC5883L.h>
#include <RF24Network.h>
#include <RF24.h>
+#include <motoresDC.h>
-Serial pc(USBTX, USBRX);
+Serial pc(TX3_PIN, RX3_PIN);
+HMC5883L brujula;
+InterruptIn boton(PB_8);
-#define nrf_CE D9
-#define nrf_CSN D10
-#define spi_SCK D3
-#define spi_MOSI D4
-#define spi_MISO D5
+//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 );
@@ -17,66 +23,115 @@
// 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;
};
-
-int main()
+volatile double heading;
+volatile unsigned int flag = 0;
+// functions
+void toggle(void)
{
- pc.baud(921600);
+ flag = 1;
+ heading = brujula.getHeading();
+}
+
+void initP()
+{
+ led = 1;
+ boton.fall(toggle);
+ brujula.init();
+ carro.conducir(1);
wait_ms(1000);
-
- pc.printf("mBed RF24Network node: Tx\n");
+ 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 >= interval )
+ if ( (now - last_sent) > interval )
{
- t.reset();
-
- pc.printf("Sending...");
- payload_t payload_tx;
- payload_tx.ms = t_packet.read_ms();
- payload_tx.counter = packets_sent++;
-
-
- RF24NetworkHeader header_tx(/*to node*/ other_node);
- bool ok = network.write(header_tx,&payload_tx,sizeof(payload_tx));
- if (ok)
- pc.printf("ok.\n");
- else
- pc.printf("failed.\n");
+ last_sent = now;
+ bool ok = sendMessage(angulo);
}
-
-
+
+ /*
+ if(abs(angulo) < 4)
+ {
+ led = 1;
+ }
+ else
+ {
+ led = 0;
+ }
+ */
}
}
\ No newline at end of file
--- a/mbed.bld Thu Nov 05 05:59:18 2015 +0000 +++ b/mbed.bld Fri Jun 10 22:16:34 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11 \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/7c328cabac7e \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motoresDC.lib Fri Jun 10 22:16:34 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/tabris2015/code/motoresDC/#5715aefb07ca
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pines.h Fri Jun 10 22:16:34 2016 +0000 @@ -0,0 +1,28 @@ +#ifdef MAPLE_MINI +// pines para los motores + +// Pines para el driver de motores +#define PWM_L PA_8 // d27 +#define CTRL1_L PB_12 // d31 +#define CTRL2_L PB_13 // d30 +#define PWM_R PA_9 // d26 +#define CTRL1_R PB_14 // d29 +#define CTRL2_R PB_15 // d28 + +// pines para el rf + +#define nrf_CE PA_3 +#define nrf_CSN PA_4 +#define spi_SCK PA_5 +#define spi_MOSI PA_7 +#define spi_MISO PA_6 + +// pines para el puerto serial +#define TX3_PIN PB_10 +#define RX3_PIN PB_11 + + +// pines para bus I2C +#define SDA_PIN PB_7 +#define SCL_PIN PB_6 +#endif \ No newline at end of file