task main ()
{
// initialise the port, etc
RS485initLib();
displayTextLine(0, "Stat: disconnected");
displayTextLine(2, "-------------------");
N2WchillOut();
N2WsetDebug(true);
N2WchillOut();
// Disconnect if already connected
N2WDisconnect();
sleep(100);
// Delete any pre-existing custom profiles and reset the device
N2WDelete();
N2WchillOut();
N2WReset();
sleep(4000);
// enable DHCP
if (useDHCP)
{
N2WsetDHCP(true);
}
else
{
N2WsetDHCP(false);
N2WchillOut();
N2WsetIPAddress(ipaddress);
N2WchillOut();
N2WsetMask(netmask);
N2WchillOut();
N2WsetDNS1(DNS1);
N2WchillOut();
N2WsetDNS2(DNS2);
N2WchillOut();
N2WsetGateway(gateway);
}
sleep(100);
// Enable or disable AdHoc
N2WsetAdHoc(useAdHoc);
sleep(100);
// SSID to connect to
N2WsetSSID(ssid);
sleep(100);
if (useWPA)
N2WSecurityWPAPassphrase(passphrase);
else if (useWPA2)
N2WSecurityWPA2Passphrase(passphrase);
else if (useWEP104)
N2WSecurityWEP104(passphrase);
else if (useOpen)
N2WSecurityOpen();
displayTextLine(0, "Stat: Calculating");
displayTextLine(3, "This can take up");
displayTextLine(4, "to 30 seconds");
sleep(100);
// Save this profile to the custom profile
N2WSave();
sleep(100);
// Load the custom profile
N2WLoad();
sleep(100);
N2WConnect(true);
displayTextLine(0, "Stat: Connecting");
while (!N2WConnected())
sleep(500);
sleep(3000);
N2WgetIP(ipaddress);
displayTextLine(3, "My IP address is");
displayTextLine(4, ipaddress);
displayTextLine(0, "Stat: Configured");
N2WchillOut();
N2WSave();
playSound(soundBeepBeep);
while(true) sleep(1);
}
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 ()
{
int index;
// port to use for the socket
int BOFHport = 6666;
string dataString;
// get our bluetooth name
getFriendlyName(dataString);
int avail = 0;
nNxtButtonTask = -2;
StartTask(updateScreen);
// initialise the port, etc
RS485initLib();
memset(RS485rxbuffer, 0, sizeof(RS485rxbuffer));
memset(RS485txbuffer, 0, sizeof(RS485txbuffer));
N2WchillOut();
// Disconnect if already connected
N2WDisconnect();
N2WchillOut();
// if a custom profile exists, use that instead
if (N2WCustomExist())
{
N2WLoad();
}
else
{
// enable DHCP
N2WsetDHCP(true);
wait1Msec(100);
// Disable adhoc
N2WsetAdHoc(false);
wait1Msec(100);
// SSID to connect to
N2WsetSSID("YOURWIFINETWORK");
wait1Msec(100);
// The passphrase to use
N2WSecurityWPA2Passphrase("YOURWIFIPASSPHRASE");
wait1Msec(100);
// Save this profile to the custom profile
N2WSave();
wait1Msec(100);
// Load the custom profile
N2WLoad();
}
wait1Msec(100);
N2WConnect(true);
connStatus = "connecting";
while (!N2WConnected())
wait1Msec(1000);
connStatus = "connected";
PlaySound(soundBeepBeep);
wait1Msec(3000);
N2WgetIP(IPaddress);
wait1Msec(1000);
// Open a listening socket on port 6666
if (!N2WTCPOpenServer(1, BOFHport))
{
writeDebugStreamLine("Err open port %d", BOFHport);
PlaySound(soundException);
while(bSoundActive) EndTimeSlice();
StopAllTasks();
}
while (true)
{
// Check if anyone has sent us anything
avail = N2WTCPAvail(1);
if (avail > 0)
{
rxbytes += avail;
N2WchillOut();
PlaySound(soundFastUpwardTones);
// Read what the client sent us
sprintf(dataStrings[0], "%d bytes from", avail);
N2WTCPRead(1, avail);
N2WchillOut();
// Get the MAC address of the client
dataStrings[2] = "Remote MAC:";
N2WTCPClientMAC(1, dataStrings[3]);
writeDebugStream("MAC: ");
writeDebugStreamLine(dataStrings[3]);
N2WchillOut();
// check the IP address of the client
N2WTCPClientIP(1, dataStrings[1]);
N2WchillOut();
// Send back a hearty "Hi there, <IP>!"
index = 0;
returnMsg = "Hi there, ";
index = RS485appendToBuff(buffer, index, returnMsg);
index = RS485appendToBuff(buffer, index, dataStrings[1]);
returnMsg = "\n";
index = RS485appendToBuff(buffer, index, returnMsg);
txbytes += index;
N2WTCPWrite(1, (tHugeByteArray)buffer, index);
N2WchillOut();
// Terminate the connection to the client
N2WTCPDetachClient(1);
N2WchillOut();
}
// Wait a bit
wait1Msec(50);
}
}
task main ()
{
int index;
// port to use for the socket
int BOFHport = 6666;
string dataString;
// get our bluetooth name
getFriendlyName(dataString);
int avail = 0;
StartTask(updateScreen);
// initialise the port, etc
RS485initLib();
N2WchillOut();
N2WsetDebug(true);
N2WchillOut();
// Disconnect if already connected
N2WDisconnect();
wait1Msec(100);
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(1000);
connStatus = "connected";
PlaySound(soundBeepBeep);
wait1Msec(3000);
N2WgetIP(IPaddress);
memcpy(dataStrings[4], IPaddress, strlen(IPaddress) + 1);
wait1Msec(1000);
N2WTCPClose(0);
N2WchillOut();
RS485clearRead();
N2WchillOut();
// Open a listening socket on port 6666
if (!N2WTCPOpenServer(1, BOFHport))
{
writeDebugStreamLine("Err open port %d", BOFHport);
PlaySound(soundException);
while(bSoundActive) EndTimeSlice();
StopAllTasks();
}
while (true)
{
// Check if anyone has sent us anything
avail = N2WTCPAvail(1);
if (avail > 0)
{
rxbytes += avail;
N2WchillOut();
PlaySound(soundFastUpwardTones);
// Read what the client sent us
sprintf(dataStrings[0], "%d bytes from", avail);
N2WTCPRead(1, avail);
N2WchillOut();
// Get the MAC address of the client
dataStrings[2] = "Remote MAC:";
N2WTCPClientMAC(1, dataStrings[3]);
writeDebugStream("MAC: ");
writeDebugStreamLine(dataStrings[3]);
N2WchillOut();
// check the IP address of the client
N2WTCPClientIP(1, dataStrings[1]);
N2WchillOut();
// Send back a hearty "Hi there, <IP>!"
index = 0;
returnMsg = "Hi there, ";
index = RS485appendToBuff(buffer, index, returnMsg);
index = RS485appendToBuff(buffer, index, dataStrings[1]);
returnMsg = "\n";
index = RS485appendToBuff(buffer, index, returnMsg);
txbytes += index;
N2WTCPWrite(1, (tHugeByteArray)buffer, index);
N2WchillOut();
// Terminate the connection to the client
N2WTCPDetachClient(1);
N2WchillOut();
wait1Msec(1000);
}
// Wait a bit
wait1Msec(50);
}
}
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);
}
}
task main() {
string mac;
string IP;
eraseDisplay();
nxtDisplayTextLine(0, "NXT2WIFI SETUP" );
nxtDisplayTextLine(7, "IP SETUP MAC" );
nNxtButtonTask = -2;
// initialise the port, etc
RS485initLib();
memset(RS485rxbuffer, 0, sizeof(RS485rxbuffer));
memset(RS485txbuffer, 0, sizeof(RS485txbuffer));
// Disconnect if already connected
N2WsetDebug(true); // enable debug stream on computer terminal
while(true)
{
// PRESS RIGHT BUTTON TO RETRIEVE MAC ADDRESS
if (nNxtButtonPressed == kRightButton)
{
N2WgetMAC(mac);
nxtDisplayTextLine(4, mac);
// Debounce button
while (nNxtButtonPressed != kNoButton) EndTimeSlice();
}
// PRESS RIGHT BUTTON TO TEST NETWORK CREATION AND CONNECTIVITY
if (nNxtButtonPressed == kEnterButton)
{
N2WDisconnect();
N2WchillOut();
N2WDelete();
CreateCustomWIFI();
N2WchillOut();
N2WConnect(true); // connect to custom profile
wait1Msec(1000);
nxtDisplayTextLine(3, "Connecting...");
while (!N2WConnected())
wait1Msec(1000);
nxtDisplayTextLine(3, "Connected!");
PlayTone(523, 90); // C5
wait1Msec(100);
PlayTone(659,90); // E5
wait1Msec(100);
PlayTone(784,90);
wait1Msec(100);
N2WgetIP(IP);
nxtDisplayTextLine(4, IP);
while (nNxtButtonPressed != kNoButton) EndTimeSlice();
}
// PRESS LEFT BUTTON TO RETRIEVE IP ADDRESS
if (nNxtButtonPressed == kLeftButton)
{
N2WgetIP(IP);
nxtDisplayTextLine(4, IP);
while (nNxtButtonPressed != kNoButton) EndTimeSlice();
}
}
}
task main ()
{
string BOFHserver = "192.168.0.100"; // Linux VM
int BOFHport = 6666;
string dataString;
getFriendlyName(dataString);
int avail = 0;
nNxtButtonTask = -2;
StartTask(updateScreen);
// initialise the port, etc
RS485initLib();
memset(RS485rxbuffer, 0, sizeof(RS485rxbuffer));
memset(RS485txbuffer, 0, sizeof(RS485txbuffer));
// Disconnect if already connected
N2WDisconnect();
N2WchillOut();
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(1000);
connStatus = "connected";
PlaySound(soundBeepBeep);
wait1Msec(3000);
N2WgetIP(IPaddress);
wait1Msec(1000);
while (true)
{
while (nNxtButtonPressed != kEnterButton) EndTimeSlice();
while (nNxtButtonPressed != kNoButton) EndTimeSlice();
if (N2WTCPOpenClient(1, BOFHserver, BOFHport)) {
data[0] = 0x0A;
N2WTCPWrite(1, data, 1);
txbytes++;
// How many bytes are available in the buffers?
avail = N2WTCPAvail(1);
if (avail > 0)
{
sizeOfReceivedData = avail;
rxbytes += avail;
N2WchillOut();
// read the current buffer
N2WTCPRead(1, avail);
processData();
for (int i = 0; i < avail; i++)
{
writeDebugStream("%c", RS485rxbuffer[i]);
}
writeDebugStreamLine("");
}
// Wait a bit
N2WchillOut();
// Disconnect
N2WTCPClose(1);
}
}
}