From 4ea41527f13c2adda36e7222bfe5cded334f8d14 Mon Sep 17 00:00:00 2001
From: Rihards Skuja <rssk@protonmail.com>
Date: Sat, 20 Jan 2018 18:47:50 +0200
Subject: [PATCH] Use base staion LED to show found obstacles

Transmit 'true' from robot to base station if robot sonar distance is
below a set threshold and then turn on ('true' received) or off ('false' received)
base station's signal LED.
---
 base_station/include/main.h |  3 +++
 base_station/src/main.c     | 18 +++++++++++++++++-
 robot/include/main.h        |  3 +++
 robot/src/main.c            | 17 +++++++++++++----
 4 files changed, 36 insertions(+), 5 deletions(-)

diff --git a/base_station/include/main.h b/base_station/include/main.h
index 29f0d59..0c81e3c 100644
--- a/base_station/include/main.h
+++ b/base_station/include/main.h
@@ -3,4 +3,7 @@
 
 #include <stdint.h>
 
+uint8_t tx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
+uint8_t rx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
+
 #endif
diff --git a/base_station/src/main.c b/base_station/src/main.c
index b1262f4..fbe06ec 100644
--- a/base_station/src/main.c
+++ b/base_station/src/main.c
@@ -13,11 +13,27 @@
 int main(void)
 {
     init_leds();
+    nrf24_init();
+
+    nrf24_config(2, 1); // Channel #2, payload: 1
+    nrf24_tx_address(tx_address);
+    nrf24_rx_address(rx_address);
 
     // Use green LED as power LED
     SET(LED_PORT, LED_GREEN_BIT);
 
-    while (1) { }
+    uint8_t data_array[1];
+    while (1) {
+        if (nrf24_dataReady()) {
+            nrf24_getData(data_array);
+
+            if (data_array[0] == 1)
+                SET(LED_PORT, LED_BLUE_BIT);
+            else if (data_array[0] == 0)
+                CLR(LED_PORT, LED_BLUE_BIT);
+        }
+    }
+
 
     return 0;
 }
diff --git a/robot/include/main.h b/robot/include/main.h
index 92b59e8..97c3bb9 100644
--- a/robot/include/main.h
+++ b/robot/include/main.h
@@ -3,6 +3,9 @@
 
 #include <stdint.h>
 
+uint8_t tx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
+uint8_t rx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
+
 void read_temp(void);
 
 #endif
diff --git a/robot/src/main.c b/robot/src/main.c
index 825d74f..1d83295 100644
--- a/robot/src/main.c
+++ b/robot/src/main.c
@@ -31,21 +31,30 @@ void read_temp(void)
 int main(void)
 {
     init_leds();
-    init_servos();
+    /* init_servos(); */
     init_sonar();
+    nrf24_init();
+
+    nrf24_config(2, 1); // Channel #2, payload: 1
+    nrf24_tx_address(tx_address);
+    nrf24_rx_address(rx_address);
 
     // Use green LED as power LED
     SET(LED_PORT, LED_GREEN_BIT);
 
-    run_servos();
+    /* run_servos(); */
     /* read_temp(); */
+    uint8_t data_array[1];
     while (1) {
         uint16_t distance_int_cm = read_sonar();
 
         if (distance_int_cm <= 10 && distance_int_cm != SONAR_ERROR)
-            SET(LED_PORT, LED_BLUE_BIT);
+            data_array[0] = 1;
         else
-            CLR(LED_PORT, LED_BLUE_BIT);
+            data_array[0] = 0;
+        nrf24_send(data_array);
+        while (nrf24_isSending());
+
         _delay_ms(SONAR_DELAY);
     }