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elopes
1 parent 05f40afd
Showing 7 changed files with 45 additions and 38 deletions Show diff stats
RIOT/drivers/include/robotcar.h
RIOT/drivers/robotcar/robotcar.c
RIOT/examples/network_app_rtt_1/Makefile -> RIOT/examples/network_app_sntp/Makefile
RIOT/examples/network_app_rtt_1/main.c -> RIOT/examples/network_app_sntp/main.c
RIOT/examples/network_app_rtt_1/udp.c -> RIOT/examples/network_app_sntp/udp.c
RIOT/examples/robot_app_dynamic/main.c
RIOT/examples/robot_app_dynamic/motor.c
@@ -10,7 +10,7 @@ extern &quot;C&quot; {
 #endif
 #define WHEEL_DIAM 65 //mm
-#define STEP_COUNT 20
+#define STEP_COUNT 19
 typedef struct {
     pwm_t device;           /**< the PWM device driving the robot */
@@ -74,7 +74,7 @@ void robot_rev( robot_t *dev, uint16_t speed){
 void robot_drive( robot_t *dev, uint16_t speed, int direction){
         gpio_set(dev->stby);
-	if(direction > 0) robot_fw(dev,speed);
+	if(direction < 0) robot_fw(dev,speed);
         else robot_rev(dev,speed);
 }
@@ -84,12 +84,13 @@ void robot_stop(robot_t *dev1, robot_t *dev2){
 	gpio_clear(dev1->in2);
         gpio_clear(dev2->in1);
 	gpio_clear(dev2->in2);
+        dev1->counter = 0;
+	dev2->counter = 0;
 } 
 void robot_move_forward( robot_t *dev1,  robot_t *dev2, uint16_t speed,int steps){
-	dev1->counter = 0;
-	dev2->counter = 0;
+	 
         while((steps > dev1->counter)&&(steps > dev2->counter))
 	{
@@ -98,15 +99,13 @@ void robot_move_forward( robot_t *dev1,  robot_t *dev2, uint16_t speed,int steps
        }
    	robot_stop(dev1,dev2);    
-        dev1->counter = 0;
-	dev2->counter = 0;
+        
 }
 void robot_move_reverse( robot_t *dev1,  robot_t *dev2, uint16_t speed,int steps){
-	dev1->counter = 0;
-	dev2->counter = 0;
+	 
         while((steps > dev1->counter)&&(steps > dev2->counter))
 	{
@@ -116,14 +115,12 @@ void robot_move_reverse( robot_t *dev1,  robot_t *dev2, uint16_t speed,int steps
        }
    	robot_stop(dev2,dev1);    
-        dev1->counter = 0;
-	dev2->counter = 0;
+       
 }
 void robot_spin_right( robot_t *dev1,  robot_t *dev2, uint16_t speed,int steps){
-	dev1->counter = 0;
-	dev2->counter = 0;
+	
         while((steps > dev1->counter)&&(steps > dev2->counter))
 	{
@@ -133,14 +130,12 @@ void robot_spin_right( robot_t *dev1,  robot_t *dev2, uint16_t speed,int steps){
        }
    	robot_stop(dev1,dev2);    
-        dev1->counter = 0;
-	dev2->counter = 0;
+        
 }
 void robot_spin_left( robot_t *dev1,  robot_t *dev2, uint16_t speed,int steps){
-	dev1->counter = 0;
-	dev2->counter = 0;
+	
         while((steps > dev1->counter)&&(steps > dev2->counter))
 	{
@@ -150,6 +145,5 @@ void robot_spin_left( robot_t *dev1,  robot_t *dev2, uint16_t speed,int steps){
        }
    	robot_stop(dev1,dev2);    
-        dev1->counter = 0;
-	dev2->counter = 0;
+        
 }
@@ -168,7 +168,7 @@ void *sock_server_thread(void *arg)
   local.port = 1234; 
   Data buf;
   int64_t offset = 0;
-  int deadline;
+  int latency;
   sock_udp_ep_t server = { .port = NTP_PORT, .family = AF_INET6 };
   ipv6_addr_from_str((ipv6_addr_t *)&server.addr, "baad:a555::1702");
@@ -195,8 +195,8 @@ void *sock_server_thread(void *arg)
 	{
 	  puts("Can't receive datagram\n"); 
 	}
-        deadline = xtimer_now_usec() + offset - buf.send_time;
-         printf("tps de transmission : %i\n",deadline);
+        latency = xtimer_now_usec() + offset - buf.send_time;
+         printf("latency : %i\n",latency);
 	//puts("Got a UDP datagram\n");
 	//send  ack  
@@ -228,11 +228,11 @@ void *sock_client_thread(void *arg)
   remote.addr.ipv6[14] = 0x17;
   remote.addr.ipv6[15] = 0x36;
- /* fill up the echo message 
+ /* fill up the echo message */
   for (i = 0; i < ECHOLEN; i++) {
 	data.donnees[i] = 'e';
-  }*/
+  }
   for (;;)
     {
@@ -112,8 +112,15 @@ void *robot_thread(void *arg)
     {
       msg_receive(&msg);
       cmd[0] = msg.content.value;
-      if((cmd[0]&0xff) == 4) {send_to_robot_auto();xtimer_sleep(3);} //mode auto
-      else {send_to_robot_manu(cmd[0]);xtimer_sleep(1);}  //mode manu
+      if((cmd[0]&0xff) == 4) 
+      {
+	  send_to_robot_auto(); 
+       } //mode auto
+      else 
+      {
+	send_to_robot_manu(cmd[0]);
+	xtimer_sleep(1); 
+      }  //mode manu
     }
   return NULL;
 }
@@ -133,7 +140,7 @@ void *sock_client_thread(void *arg)
   remote.addr.ipv6[2] = 0xa5;
   remote.addr.ipv6[3] = 0x55;
   remote.addr.ipv6[14] = 0x17;
-  remote.addr.ipv6[15] = 0x2a;
+  remote.addr.ipv6[15] = 0x36;
   for (;;)
     {
@@ -144,7 +151,7 @@ void *sock_client_thread(void *arg)
 	{
 	  puts("Error sending message");
 	}
-      if ((res = sock_udp_recv(&sock,message,MAX_MESSAGE_LENGTH, 14 * MS_PER_SEC,&remote)) < 0)
+      if ((res = sock_udp_recv(&sock,message,MAX_MESSAGE_LENGTH, 20 * SEC_PER_MIN,&remote)) < 0)
 	{
 	  if (res == -ETIMEDOUT)
 	    {
@@ -166,8 +173,9 @@ void *sock_server_thread(void *arg)
 {
   (void) arg;
   local.port = 1234;
+  int count = 0;
   uint32_t server_msg[1];
-  //uint32_t auto_r;
+  uint32_t auto_r;
   msg_t msg;
   if (sock_udp_create(&sock, &local, NULL, 0) < 0)
@@ -183,18 +191,23 @@ void *sock_server_thread(void *arg)
       /* wait for incoming packets */
       if ((sock_udp_recv(&sock,server_msg, sizeof(server_msg), 5 * SEC_PER_MIN,&remote) >= 0)){
-	 msg.content.value = server_msg[0];
+	 
          //send  ack  
      	 if (sock_udp_send(&sock,"ok",sizeof("ok"), &remote) < 0)
 		{
 	   		puts("Error sending reply");
 		}
+         msg.content.value = server_msg[0];
+         count = 0;
          msg_send(&msg, robot_pid); 
       }
    else{
-       //auto_r = 4;
-      // msg.content.value = auto_r;
-       //msg_send(&msg, robot_pid);//auto
+       auto_r = 4;
+       msg.content.value = auto_r;
+       	if(count < 3) {
+      		msg_send(&msg, robot_pid);
+		count++;
+	}//auto
       } 
@@ -231,13 +244,12 @@ static void _init_interface(void)
       {  
         crea_rpl_dodag_root(1, addr);
         client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
-      } else if((addr.u8[14]==0x17)&&(addr.u8[15]==0x36)){
-      }
-    else if((addr.u8[14]==0x17)&&(addr.u8[15]==0x2a))
+      } 
+     else if((addr.u8[14]==0x17)&&(addr.u8[15]==0x36)) 
       {
 	server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
-        robot_pid=thread_create(robot_stack,sizeof(robot_stack),5,THREAD_CREATE_STACKTEST,robot_thread,NULL,"robot_thread");
+        robot_pid=thread_create(robot_stack,sizeof(robot_stack),7,THREAD_CREATE_STACKTEST,robot_thread,NULL,"robot_thread");
       }
     else
       {
@@ -44,7 +44,7 @@
 #define MOTOR2_IN2     GPIO_PIN(PORT_E,3)
 #define MOTOR2_ECD     GPIO_PIN(PORT_A,9)
-#define STDBY	GPIO_PIN(PORT_D,4)
+#define STDBY	GPIO_PIN(PORT_D,5)
 robot_t motor_1;
 robot_t motor_2;
@@ -150,7 +150,8 @@ void send_to_robot_manu(uint32_t msg)
 void send_to_robot_auto(void)
 {
-  robot_spin_right(&motor_1,&motor_2,700,60);
+  robot_spin_right(&motor_1,&motor_2,600,60);
+  xtimer_sleep(1);
 }
 int init_robot(robot_t *dev1, robot_t *dev2)