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); if (!N2WCustomExist()) { StopTask(updateScreen); wait1Msec(50); eraseDisplay(); PlaySound(soundException); nxtDisplayCenteredBigTextLine(1, "ERROR"); nxtDisplayTextLine(3, "No custom profile"); nxtDisplayTextLine(4, "configured!!"); while(true) EndTimeSlice(); } 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 = SensorBoolean[TOUCH]; if (currTouchState != prevTouchState) { memset(data, 0, sizeof(data)); data[0] = (currTouchState) ? '1' : '0'; N2WwriteWS(1, 0, data, 2); 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); } }
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); } }