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170 lines
3.6 KiB
170 lines
3.6 KiB
#include <util/delay.h>
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#include <avr/io.h>
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#include <stdio.h>
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#include <stdarg.h>
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#include <util/setbaud.h>
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#include <Arduino.h>
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#include <lib.h>
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#include "SoftPWM.h"
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#include <SPI.h>
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#include <nRF24L01.h>
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#include <RF24.h>
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#define CE_PIN 3
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#define CS_PIN 2
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#define RED 4
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#define GREEN 5
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class Radio {
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public:
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RF24 instance;
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};
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class Motor {
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public:
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int power;
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};
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const uint64_t pipes[2] = {0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL};
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int radio_number = ROLE;
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int role = ROLE;
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int main(void) {
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pinMode(4, OUTPUT);
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pinMode(5, OUTPUT);
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uart_init();
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SoftPWMBegin();
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// SoftPWMSetFadeTime(4, 2000, 2000);
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// pinMode(15, OUTPUT);
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//
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// pinMode(16, OUTPUT);
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// pinMode(17, OUTPUT);
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//
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// pinMode(18, OUTPUT);
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// pinMode(19, OUTPUT);
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RF24 radio(CE_PIN, CS_PIN);
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radio.begin();
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if (radio_number) {
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radio.openWritingPipe(pipes[1]);
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radio.openReadingPipe(1, pipes[0]);
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} else {
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radio.openWritingPipe(pipes[0]);
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radio.openReadingPipe(1, pipes[1]);
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}
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radio.startListening();
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//SoftPWMSet(16, 255);
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//SoftPWMSet(19, 255);
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//digitalWrite(18, HIGH);
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// SoftPWMSet(18, 255, 1);
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// digitalWrite(19, LOW);
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// digitalWrite(14, LOW);
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// digitalWrite(15, HIGH);
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digitalWrite(GREEN, HIGH);
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_delay_ms(200);
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digitalWrite(GREEN, LOW);
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int accum = 20;
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int i = 5;
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for (;;) {
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unsigned long start_time = micros();
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// ping
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if (role == 1) {
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if (accum > 230) {
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i = -5; accum = 230;
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} else if (accum < 100) {
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i = 5; accum = 100;
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}
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accum += i;
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// SoftPWMSet(14, accum);
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// SoftPWMSet(19, accum);
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_delay_ms(100);
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//
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//// digitalWrite(GREEN, HIGH);
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//// _delay_ms(200);
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//// digitalWrite(GREEN, LOW);
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// radio.stopListening();
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//
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//
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// if (!radio.write(&start_time, sizeof(unsigned long))) {
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//// digitalWrite(RED, HIGH);
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//// _delay_ms(1000);
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//// digitalWrite(RED, LOW);
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// radio.startListening();
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// continue;
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// }
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//
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// radio.startListening();
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// unsigned long started_waiting_at = micros();
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// boolean timeout = false;
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//
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// _delay_ms(390);
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// if (!radio.available()) {
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// timeout = true;
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// }
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//// while (!radio.available()) {
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//// if (micros() - started_waiting_at > 20) {
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//// timeout = true;
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//// break;
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//// }
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//// }
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// if (timeout) {
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//
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//// digitalWrite(RED, HIGH);
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//// _delay_ms(200);
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//// digitalWrite(RED, LOW);
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//
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// } else {
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// unsigned long got_time;
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// radio.read(&got_time, sizeof(unsigned long));
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// unsigned long end_time = micros();
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//
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//// digitalWrite(GREEN, HIGH);
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//// _delay_ms(200);
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//// digitalWrite(GREEN, LOW);
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// }
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//_delay_ms(500);
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}
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// ping bag
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if (role == 0) {
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_delay_ms(100);
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unsigned long got_time;
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if (radio.available()) {
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while (radio.available()) {
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radio.read(&got_time, sizeof(unsigned long));
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}
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radio.stopListening();
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radio.write(&got_time, sizeof(unsigned long));
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radio.startListening();
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}
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}
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}
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}
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