Nico De Witte / racing_robots

Racing Robots Session

Dependencies:   MbedJSONValue m3pi

This is the library for the Racing Robots session. It supports the M3PI robot of Polulu.

It is based on the "Arduino" principle of the init and loop function.

Just add a main.cpp file which contains:

Racing Robots main file

#include "robot_logic.h"

void init()
{
   //put your initialization logic here
}

void loop()
{
    //put your robot control logic here    
}

Features include:

  1. Controlling the LEDS
  2. Move forward and backward
  3. Turn
  4. Read the sensor values
  5. Use a PID controller

xbee.cpp

Committer:
sillevl
Date:
2015-06-01
Revision:
9:0385d1bfc38b
Parent:
8:597ce8a7d34b

File content as of revision 9:0385d1bfc38b:

#include "xbee.h"
#include "MbedJSONValue.h"

Xbee::Xbee(PinName tx, PinName rx){
    xbee = new Serial(tx, rx);
    xbee->baud(115200);
    xbee->attach(this, &Xbee::received, Serial::RxIrq);
    run = false;
    printf("xbee constructor\r\n");
    rst = new DigitalOut(p26);
    reset();
    setCode(-1);
}

void Xbee::reset(){
    rst->write(0);
    wait_ms(1);
    rst->write(1);
    wait_ms(1);
}

void Xbee::setCode(int code){
    if( code >= 0 && code < 1000){
        error("Code must be between 0 and 999."); 
    }   
    this->code = code;
}

int Xbee::hasCode(){
    return code != -1;
}

int Xbee::running(){
    return run;
}

int Xbee::stopped(){
    return !running();
}

void Xbee::received(){
    char c;
    while(xbee->readable()){
        c = xbee->getc();
        putc(c, stdout);
        buffer[buffer_pos] = c;
        buffer_pos++;
        if(c == '\n'){
            buffer[buffer_pos] = '\0';
            
            printf("buffer: %s\r\n", buffer);

            buffer_pos = 0;
            MbedJSONValue json;
            parse(json, buffer);
            
            int code = -1;
            if(json.hasMember("start")){
                code = json["start"].get<int>();
            } else if(json.hasMember("stop")){
                code = json["stop"].get<int>();
            } else {
                break;   
            }
            
            printf("code: %d\r\n", code);

            if(json.hasMember("start") && code == this->code){
                run = true;   
                printf("start\r\n");
            } else if(code == this->code){
                run = false;
                printf("stop\r\n");
            }   
        }
    }
}