Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen. https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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/*
TMRh20 2014 - Optimized RF24 Library Fork
*/
/**
* Example using Dynamic Payloads
*
* This is an example of how to use payloads of a varying (dynamic) size.
*/
#include <cstdlib>
#include <iostream>
#include <sstream>
#include <string>
#include <RF24/RF24.h>
using namespace std;
//
// Hardware configuration
// Configure the appropriate pins for your connections
/****************** Raspberry Pi ***********************/
RF24 radio(22,0); // CE GPIO, CSN SPI-BUS
int interruptPin = 23; // GPIO pin for interrupts
/**************************************************************/
// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
const int min_payload_size = 4;
const int max_payload_size = 32;
const int payload_size_increments_by = 1;
int next_payload_size = min_payload_size;
char receive_payload[max_payload_size+1]; // +1 to allow room for a terminating NULL char
bool role_ping_out = 1, role_pong_back = 0;
bool role = 0;
void intHandler(){
//
// Pong back role. Receive each packet, dump it out, and send it back
//
if ( role == role_pong_back )
{
// if there is data ready
if ( radio.available() )
{
// Dump the payloads until we've gotten everything
uint8_t len=0;
while (radio.available())
{
// Fetch the payload, and see if this was the last one.
len = radio.getDynamicPayloadSize();
radio.read( receive_payload, len );
// Put a zero at the end for easy printing
receive_payload[len] = 0;
// Spew it
printf("Got payload size=%i value=%s\n\r",len,receive_payload);
}
// First, stop listening so we can talk
radio.stopListening();
// Send the final one back.
radio.write( receive_payload, len );
printf("Sent response.\n\r");
// Now, resume listening so we catch the next packets.
radio.startListening();
}
}
}
int main(int argc, char** argv){
// Print preamble:
cout << "RF24/examples/pingpair_dyn/\n";
// Setup and configure rf radio
radio.begin();
radio.enableDynamicPayloads();
radio.setRetries(5,15);
radio.printDetails();
/********* Role chooser ***********/
printf("\n ************ Role Setup ***********\n");
string input = "";
char myChar = {0};
cout << "Choose a role: Enter 0 for receiver, 1 for transmitter (CTRL+C to exit) \n>";
getline(cin,input);
if(input.length() == 1) {
myChar = input[0];
if(myChar == '0'){
cout << "Role: Pong Back, awaiting transmission " << endl << endl;
}else{ cout << "Role: Ping Out, starting transmission " << endl << endl;
role = role_ping_out;
}
}
/***********************************/
if ( role == role_ping_out ) {
radio.openWritingPipe(pipes[0]);
radio.openReadingPipe(1,pipes[1]);
} else {
radio.openWritingPipe(pipes[1]);
radio.openReadingPipe(1,pipes[0]);
radio.startListening();
}
attachInterrupt(interruptPin, INT_EDGE_FALLING, intHandler); //Attach interrupt to bcm pin 23
// forever loop
while (1)
{
if (role == role_ping_out)
{
// The payload will always be the same, what will change is how much of it we send.
static char send_payload[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZ789012";
// First, stop listening so we can talk.
radio.stopListening();
// Take the time, and send it. This will block until complete
printf("Now sending length %i...",next_payload_size);
radio.write( send_payload, next_payload_size );
// Now, continue listening
radio.startListening();
// Wait here until we get a response, or timeout
unsigned long started_waiting_at = millis();
bool timeout = false;
while ( ! radio.available() && ! timeout )
if (millis() - started_waiting_at > 500 )
timeout = true;
// Describe the results
if ( timeout )
{
printf("Failed, response timed out.\n\r");
}
else
{
// Grab the response, compare, and send to debugging spew
uint8_t len = radio.getDynamicPayloadSize();
radio.read( receive_payload, len );
// Put a zero at the end for easy printing
receive_payload[len] = 0;
// Spew it
printf("Got response size=%i value=%s\n\r",len,receive_payload);
}
// Update size for next time.
next_payload_size += payload_size_increments_by;
if ( next_payload_size > max_payload_size )
next_payload_size = min_payload_size;
// Try again 1s later
delay(100);
}
}
}