Example #1
0
dist_readings_t dist_read_all()
{
	dist_readings_t readings;
		
	// Read raw values from sensors
	dist_read(&readings.front_val, &readings.side_1_val, 
		&readings.side_2_val);

	// Convert the numbers to a distance in centimeters
	readings.front = get_dist_to_cm(readings.front_val);
	readings.side_1 = get_dist_to_cm(readings.side_1_val);
	readings.side_2 = get_dist_to_cm(readings.side_2_val);

	return readings;
}
Example #2
0
void callbox(byte my_floor) {
    byte rxmessage[PAYLOAD_SIZE];   // Received data payload
    static byte floor, direction;
    word distance;
    static byte flag_dist_init = 0;
    CANframe txframe;   // Transmitted CAN frame
    
    floor = 0xFF;   // Start at false floor
    direction = DIRECTION_STATIONARY;   // Assume starting car direction is stationary
    
    if (!flag_dist_init){
        dist_init();
        flag_dist_init = 1;
    }
    
    if(SW1 && !sw1_pressed) {  
        sw1_pressed = 1;
        button_up(my_floor);
    }
    if(SW2 && !sw2_pressed) { 
        sw2_pressed = 1;
        button_down(my_floor);
    }
    if(!SW1) sw1_pressed = 0;
    if(!SW2) sw2_pressed = 0;
    
    runSerialCAN(MSCAN_NODE_ID);
    
    if(data_available()) {
        
        CANget(rxmessage);
        
        switch(rxmessage[0]) {
            case CMD_LOCATION:
                floor = rxmessage[1];
                direction = rxmessage[2];
                
#ifdef USE_LCD
                LCDclear();
                LCDprintf("Floor: %d\nDir: %d", floor, direction);
#endif
#ifdef USE_LED7
                led7_write(led7_table[floor]);
#endif
                break;
            case CMD_BUTTON_CALL:
                rxmessage[1] == DIRECTION_UP ? button_up(my_floor) : button_down(my_floor);
                break;
            case CMD_ERROR:
#ifdef USE_LCD
                LCDclear();
                LCDprintf("Error condition\nreceived!");
#endif
                break;
            default:
#ifdef USE_LCD
                LCDclear();
                LCDputs("Unknown command");
#endif
                break;
        }
        
        // Turn off indicator LED once car has reached local floor
        if(floor == my_floor) {
            LED1 = 0; LED2 = 0;
        }
        
    }
    
    // Sonar sensor currently attached to callbox 1
    // Send off distance message to controller node
    if (my_floor == FLOOR1) {
        distance = dist_read();
        
        txframe.id = MSCAN_CTL_ID;
        txframe.priority = 0x01;
        txframe.length = 3;
        txframe.payload[0] = CMD_DISTANCE;
        txframe.payload[1] = (distance & 0xFF00) >> 8;         
        txframe.payload[2] = (distance & 0x00FF);
        CANsend(&txframe);
    }