////////////////////////////////////////////////////////////////////////
// Main Task
////////////////////////////////////////////////////////////////////////
task main()
{
eraseDisplay();
bNxtLCDStatusDisplay = true;
setupHighSpeedLink();
//This is the buffer that will hold the bytes to transmit.
ubyte testBytes[1];
int xmitCount = 1;
nMotorEncoder[motorB] = 0; // Reset the Motor Encoder of Motor B.
//The test will continue until an error occurs or
//the enter button on the brick is pressed.
while(nNxtButtonPressed != kEnterButton)
{
eraseDisplay();
int motorposn = nMotorEncoder[motorB];
//This will display the the motor position.
nxtDisplayTextLine(1, (string)motorposn + " XMIT");
//Set the bytes of the buffer to the next byte.
testBytes[0] = motorposn;
//Transmit the bytes.
int retVal = TransmitBytes(testBytes, sizeof(testBytes));
//Format the byte string and display it.
string tStr0;
StringFormat(tStr0, "%3d", testBytes[0]);
string TempStr = tStr0;
nxtDisplayTextLine(2, TempStr);
//Delay. Possibly, this could be used for an ACK.
wait1Msec(MS_TO_DELAY);
}
}
void MANCHESTERClass::Transmit(unsigned int data)
{
unsigned char byteData[2] = {data >> 8, data & 0xFF};
TransmitBytes(2, byteData);
}
void TransmitCString(cString *s)
{
TransmitBytes((char *)&s->length, sizeof(s->length));
TransmitBytes(s->string, s->length);
}
void SendTransportMessage(TransportMessage *tpMessage)
{
TransmitBytes((uint8_t *)&tpMessage->reserved, sizeof(tpMessage->reserved));
TransmitBytes((uint8_t *)&tpMessage->size, sizeof(tpMessage->size));
TransmitBytes((uint8_t *)tpMessage->data, tpMessage->size);
}
