task main ()
{
// initialise the port, etc
RS485initLib();
displayTextLine(0, "Stat: disconnected");
displayTextLine(2, "-------------------");
N2WchillOut();
N2WsetDebug(true);
N2WchillOut();
// Disconnect if already connected
N2WDisconnect();
sleep(100);
// Delete any pre-existing custom profiles and reset the device
N2WDelete();
N2WchillOut();
N2WReset();
sleep(4000);
// enable DHCP
if (useDHCP)
{
N2WsetDHCP(true);
}
else
{
N2WsetDHCP(false);
N2WchillOut();
N2WsetIPAddress(ipaddress);
N2WchillOut();
N2WsetMask(netmask);
N2WchillOut();
N2WsetDNS1(DNS1);
N2WchillOut();
N2WsetDNS2(DNS2);
N2WchillOut();
N2WsetGateway(gateway);
}
sleep(100);
// Enable or disable AdHoc
N2WsetAdHoc(useAdHoc);
sleep(100);
// SSID to connect to
N2WsetSSID(ssid);
sleep(100);
if (useWPA)
N2WSecurityWPAPassphrase(passphrase);
else if (useWPA2)
N2WSecurityWPA2Passphrase(passphrase);
else if (useWEP104)
N2WSecurityWEP104(passphrase);
else if (useOpen)
N2WSecurityOpen();
displayTextLine(0, "Stat: Calculating");
displayTextLine(3, "This can take up");
displayTextLine(4, "to 30 seconds");
sleep(100);
// Save this profile to the custom profile
N2WSave();
sleep(100);
// Load the custom profile
N2WLoad();
sleep(100);
N2WConnect(true);
displayTextLine(0, "Stat: Connecting");
while (!N2WConnected())
sleep(500);
sleep(3000);
N2WgetIP(ipaddress);
displayTextLine(3, "My IP address is");
displayTextLine(4, ipaddress);
displayTextLine(0, "Stat: Configured");
N2WchillOut();
N2WSave();
playSound(soundBeepBeep);
while(true) sleep(1);
}
task main ()
{
ubyte type;
ubyte ID;
ubyte state;
ubyte value;
string dataString;
string tmpString;
// initialise the port, etc
RS485initLib();
StartTask(updateScreen);
// Disconnect if already connected
N2WDisconnect();
N2WchillOut();
wait1Msec(1000);
// enable DHCP
N2WsetDHCP(true);
wait1Msec(100);
// Disable adhoc
N2WsetAdHoc(false);
wait1Msec(100);
// Network Configuration
N2WsetMask("255.255.255.0");
wait1Msec(100);
N2WsetGateway("10.0.0.138");
wait1Msec(100);
N2WsetDNS1("8.8.8.8");
wait1Msec(100);
N2WsetDNS2("8.8.4.4");
wait1Msec(100);
N2WsetNetbiosName("NXT2WIFI1");
wait1Msec(100);
// SSID to connect to
N2WsetSSID("test");
wait1Msec(100);
// The passphrase to use
N2WSecurityWPA2Passphrase("pwasde08");
wait1Msec(100);
// Save this profile to the custom profile
N2WSave();
wait1Msec(500);
// Load the custom profile
N2WLoad();
wait1Msec(100);
N2WConnect(true);
connStatus = "connecting";
while (!N2WConnected()) wait1Msec(100);
wait1Msec(1000);
connStatus = "connected";
PlaySound(soundBeepBeep);
wait1Msec(3000);
N2WgetIP(IPaddress);
wait1Msec(1000);
// 123456789012345
dataStrings[0] = "Tch | Snr | Clr";
// on | 011 | 1"
while (true)
{
if (N2WreadWS(type, ID, state, value))
{
writeDebugStreamLine("btn: %d, state: %d", ID, state);
switch (ID)
{
case 1: doStraight(state); break;
case 3: doRight(state); break;
case 4: doStop(state); break;
case 5: doLeft(state); break;
case 7: doReverse(state); break;
case 9: doAction(state); break;
case 11: handleColour(state); break;
default: break;
}
}
// All values are only updated when they've changed.
// This cuts backs drastically on the number of messages
// that have to be sent to the NXT2WIFI
// Fetch the state of the Touch Sensor
// This value is displayed by field 0 (in0) on the page
currTouchState = SensorValue[TOUCH];
if (currTouchState != prevTouchState)
{
sprintf(dataString, "%d", currTouchState);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 0, data, strlen(&data));
prevTouchState = currTouchState;
N2WchillOut();
}
// Fetch the currently detected colour.
// This value is displayed by field 1 (in1) on the page
currDetectedColour = SensorValue[COLOUR];
if (currDetectedColour != prevDetectedColour)
{
sprintf(dataString, "%d", currDetectedColour);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 1, data, strlen(dataString));
prevDetectedColour = currDetectedColour;
N2WchillOut();
}
// Fetch the distance detected by the sonar sensor
// This value is displayed by field 2 (in2) on the page
currSonarDistance = SensorValue[SONAR];
if (currSonarDistance != prevSonarDistance)
{
sprintf(dataString, "%d", currSonarDistance);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 2, data, strlen(dataString));
prevSonarDistance = currSonarDistance;
N2WchillOut();
}
// Fetch the tacho count for motor A
// This value is displayed by field 3 (in3) on the page
currEncMotorA = nMotorEncoder[MOT_ACTION];
if (currEncMotorA != prevEncMotorA)
{
sprintf(dataString, "%d", currEncMotorA);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 3, data, strlen(dataString));
prevEncMotorA = currEncMotorA;
N2WchillOut();
}
// Fetch the tacho count for motor B
// This value is displayed by field 4 (in4) on the page
currEncMotorB = nMotorEncoder[MOT_LEFT];
if (currEncMotorB != prevEncMotorB)
{
sprintf(dataString, "%d", currEncMotorB);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 4, data, strlen(dataString));
prevEncMotorB = currEncMotorB;
N2WchillOut();
}
// Fetch the tacho count for motor C
// This value is displayed by field 5 (in5) on the page
currEncMotorC = nMotorEncoder[MOT_RIGHT];
if (currEncMotorC != prevEncMotorC)
{
sprintf(dataString, "%d", currEncMotorC);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 5, data, strlen(dataString));
prevEncMotorC = currEncMotorC;
N2WchillOut();
}
// Fetch the current voltage level. The average one
// works best, the other one jumps around too much.
// This value is displayed by field 6 (in6) on the page
currBatteryLevel = nAvgBatteryLevel;
if (currBatteryLevel != prevBatteryLevel)
{
sprintf(dataString, "%d", currBatteryLevel);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 6, data, strlen(dataString));
prevBatteryLevel = currBatteryLevel;
N2WchillOut();
}
sprintf(dataStrings[2], "A: %d", currEncMotorA);
sprintf(dataStrings[3], "B: %d", currEncMotorB);
sprintf(dataStrings[4], "C: %d", currEncMotorC);
sprintf(tmpString, "%s | %3d", (currTouchState == 0) ? "off" : "on ", currSonarDistance);
sprintf(dataStrings[1], "%s | %3d", tmpString, currDetectedColour);
}
}