rhssk/inspektors
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Use base staion LED to show found obstacles

Browse Source 
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.
This commit is contained in:
Rihards Skuja 2018-01-20 18:47:50 +02:00
parent 92c3842ca9
commit 4ea41527f1
No known key found for this signature in database
GPG Key ID: 53FA13A3F7F8571B
4 changed files with 36 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
base_station/include/main.h
View File

@ -3,4 +3,7 @@
#include <stdint.h> #include <stdint.h>
uint8_t tx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
uint8_t rx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
#endif #endif

18
base_station/src/main.c
View File

@ -13,11 +13,27 @@
int main(void) int main(void)
{ {
init_leds(); 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 // Use green LED as power LED
SET(LED_PORT, LED_GREEN_BIT); 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; return 0;
} }

3
robot/include/main.h
View File

@ -3,6 +3,9 @@
#include <stdint.h> #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); void read_temp(void);
#endif #endif

17
robot/src/main.c
View File

@ -31,21 +31,30 @@ void read_temp(void)
int main(void) int main(void)
{ {
init_leds(); init_leds();
init_servos(); /* init_servos(); */
init_sonar(); 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 // Use green LED as power LED
SET(LED_PORT, LED_GREEN_BIT); SET(LED_PORT, LED_GREEN_BIT);
run_servos(); /* run_servos(); */
/* read_temp(); */ /* read_temp(); */
uint8_t data_array[1];
while (1) { while (1) {
uint16_t distance_int_cm = read_sonar(); uint16_t distance_int_cm = read_sonar();
if (distance_int_cm <= 10 && distance_int_cm != SONAR_ERROR) if (distance_int_cm <= 10 && distance_int_cm != SONAR_ERROR)
SET(LED_PORT, LED_BLUE_BIT); data_array[0] = 1;
else else
CLR(LED_PORT, LED_BLUE_BIT); data_array[0] = 0;
nrf24_send(data_array);
while (nrf24_isSending());
_delay_ms(SONAR_DELAY); _delay_ms(SONAR_DELAY);
} }