#define ENGINE "NXTCAR"

#define MASTER "CONTROL"

const tSensors TOUCH1=S1;

const tSensors TOUCH2=S2;

const tSensors TOUCH3=S3;

const TMailboxIDs Queue1 = 1;

const int kMaxMsgSize=10;

//

// checkLink()

// -- check if there is at least one connected

// -- if not, try 3times to reconnnect

// -- if it still fails after 3 attempts, stop all tasks

// -- return to caller

// -- if it is successful or already have one queue connected to a remote unit

// --

void checkLink()

{

int nTries=0;

setFriendlyName(MASTER);

while (nTries<3 && nBTCurrentStreamIndex < 1)

{

PlaySound(soundLowBuzz);

PlaySound(soundLowBuzz);

eraseDisplay();

nxtDisplayCenteredTextLine(3, "BT Not Connected!");

nxtDisplayCenteredTextLine(4, "Connecting!");

btConnect(1, ENGINE);

wait1Msec(1000);

++nTries;

}

if (nBTCurrentStreamIndex < 1)// -- check if there is at least one connected

StopAllTasks(); // exit the entire process

while (bBTBusy)

{

wait1Msec(100);

}

nxtDisplayCenteredTextLine(3, "StreamIndex=%d", nBTCurrentStreamIndex);

nxtDisplayCenteredTextLine(4, "Connect to Q %d", Queue1);

wait1Msec(1000);

return;

}

ubyte encodeByBits(){

ubyte ret=(SensorValue[TOUCH1]<<2 | SensorValue[TOUCH2] <<1 | SensorValue[TOUCH3]);

return ret;

}

ubyte encodeByAdd(){

ubyte ret = 0;

if(SensorValue[TOUCH1])

ret+=100;

if(SensorValue[TOUCH2])

ret+=10;

if(SensorValue[TOUCH3])

ret+=1;

return ret;

}

void sndOver(ubyte x)

{

ubyte xmitBuffer[kMaxMsgSize];

TFileIOResult nErrStatus;

memset(xmitBuffer,0, kMaxMsgSize);

nxtDisplayTextLine(3, "Attempt to send %d!", x);

xmitBuffer[0] = x;

// cCmdMessageWriteToBluetooth(x, 1, Queue1); <--- this works too if you really just want to send the byte x

// the following prepare you the structure in case you want to send more than 1 byte

nErrStatus = cCmdMessageWriteToBluetooth(xmitBuffer, 1, Queue1);

switch (nErrStatus){

case ioRsltSuccess:

case ioRsltCommPending:

nxtDisplayTextLine(3, "Send %d Success !", xmitBuffer);

break;

case ioRsltCommChannelBad:

nxtDisplayString(3, "Bad Channel!....");

break;

default:

nxtDisplayString(3, "Send Failed!....");

break;

}

}

task main()

{

ubyte msg=0;

SensorType[TOUCH1]=sensorTouch;

SensorType[TOUCH2]=sensorTouch;

SensorType[TOUCH3]=sensorTouch;

checkLink();

PlayTone(400,100);

eraseDisplay();

while(true){

//do not attempt to do encoding until you know your bot

// is able to communicate and send the simple incrementing number over

// to the worker bot

//msg=encodeByAdd();

//msg=encodeByBits();

msg = (msg<255 ? ++msg : 0); //simply just send 1, 2, ... up to 255, then recycle

nxtDisplayCenteredTextLine(3,"%d", msg);

sndOver(msg);

wait1Msec(20);

}

}