/**
* Sensor calls RFID_done as a response to read_rfid to take action
*
* @param id_and_station The station robot has stopped on and which side it is on
*/
void RFID_done(uint8_t id, uint16_t id_and_station)
{
uint8_t station_id = (uint8_t)(id_and_station);
uint8_t station_data = (uint8_t)(id_and_station >> 8);
if (station_id != 0) // rfid found!
{
stop_wheels();
display_station_and_rfid(station_data, station_id);
rfid_to_pc(station_id);
update_station_list(station_id);
command_to_arm(station_data, station_id);
}
else if (station_id == 0 && scan_count < 18) // No id found, drive forward
{
drive_left_wheels(1, 130);
drive_right_wheels(1, 130);
++scan_count;
_delay_ms(5);
read_rfid();
}
else if (station_id == 0 && scan_count < 35) // Still no id found, start backing
{
drive_left_wheels(0, 130);
drive_right_wheels(0, 130);
++scan_count;
_delay_ms(5);
read_rfid();
}
else
{
stop_wheels();
decision_to_pc(6);
display(0, "No tag ");
display(1, "found!");
//scan_count = 0;
if (lap_finished == 0)
clear_station_list();
drive_to_next();
}
}
void wait_for_null_rfid_scan(){
RFID_Tag tag = RFID_Tag();
while(!tag.is_null())
tag = read_rfid();
}
RFID_Tag scan_rfid(){
RFID_Tag tag;
while(tag.is_null())
tag = read_rfid();
return tag;
}
bool nothing_to_scan(){
RFID_Tag tag = read_rfid();
return tag.is_null();
}