fixed transmit initialization

code/keyboard_ctrl/keyboard_ctrl.py

@@ -1,12 +1,14 @@
 import sys
 import serial
+import time
 
 port_name = sys.argv[1]
 baud_str = sys.argv[2]
 
 
 port = serial.Serial(port_name, int(baud_str))
-port.write('start 500 2400\n')
+time.sleep(3)
+port.write("start 500 2400\n")
 
 
 def keypress(): 
@@ -27,19 +29,19 @@ def keypress():
 
 
 def go_forward():
-    return "DATA 2 180 180"
+    return "data 2 180 180"
 
 def go_backward():
-    return "DATA 2 0 0"
+    return "data 2 0 0"
 
 def turn_left():
-    return "DATA 2 0 180"
+    return "data 2 0 180"
 
 def turn_right():
-    return "DATA 2 180 0"
+    return "data 2 180 0"
 
 def stop():
-    return "DATA 2 90 90"
+    return "data 2 90 90"
 
 def quit():
     exit()

code/rc_bot/rc_bot.ino

@@ -5,30 +5,64 @@
 
 ServoTimer2 LeftDrive, RightDrive;
 
+#define LEFT_FWD 1000
+#define LEFT_REV 2000
+#define LEFT_STOP ((LEFT_FWD + LEFT_REV)/2)
+
+#define RIGHT_FWD 1000
+#define RIGHT_REV 2000
+#define RIGHT_STOP ((RIGHT_FWD + RIGHT_REV)/2)
+
 RKF_Radio radio;
 
 void setup(){
   LeftDrive.attach(LEFT_DRIVE_PIN);
   RightDrive.attach(RIGHT_DRIVE_PIN);
   pinMode(BUMP_SWITCH_RIGHT_PIN, INPUT);
   pinMode(BUMP_SWITCH_LEFT_PIN, INPUT);
+  pinMode(DEFAULT_RX_PIN, INPUT);
   pinMode(STATUS_LED_PIN, OUTPUT);
 
   Serial.begin(57600);
 
+  LeftDrive.write(LEFT_STOP);
+  RightDrive.write(RIGHT_STOP);
   radio.start();
+
+  Serial.println("Reset");
 }
 
 
 void loop()
 {
+  int speed_L, speed_R;
+  int idx;
+
   if(radio.recv())
   {
+    Serial.print("rx:");
+    for(idx=0; idx<8; idx++)
+    {
+      Serial.print(" ");
+      Serial.print(radio.packet.data[idx], HEX);
+    }
+    Serial.println("");
+    Serial.println(radio.packet.message, HEX);
+
     switch(radio.packet.message)
     {
       case 7:
-        LeftDrive.write(radio.packet.data[1]);
-        RightDrive.write(radio.packet.data[2]);
+        speed_L = map(radio.packet.data[1],
+                    0, 255, LEFT_REV, LEFT_FWD);
+
+        speed_R = map(radio.packet.data[2],
+                    0, 255, LEFT_REV, LEFT_FWD);
+
+        Serial.print("speed_L = ");
+        Serial.println(speed_L);
+        Serial.print("speed_R = ");
+        Serial.println(speed_R);
+
         break;
 
       case 0:
@@ -38,6 +72,8 @@ void loop()
     }
   }
 
+  LeftDrive.write(speed_L);
+  RightDrive.write(speed_R);
 
 }
 

code/rkf_xmit/rkf_xmit.ino

@@ -48,12 +48,15 @@ void loop()
   {
     xmit_time = millis() + xmit_period;
 
+    // transmit the packet
+    vw_wait_tx();
+    vw_send((uint8_t*) &send_pkt_buffer, send_data_len);
     // transmit the packet
     vw_wait_tx();
     vw_send((uint8_t*) &send_pkt_buffer, send_data_len);
 
-    Serial.print("tx ");
-    Serial.println(tx_msg_count++);
+    //Serial.print("tx ");
+    //Serial.println(tx_msg_count++);
   }
 
   digitalWrite(LED_PIN, vx_tx_active() ? HIGH : LOW);
@@ -102,6 +105,8 @@ void send_raw_data()
    if(arg == NULL) break;
 
    *ptr = byte(atoi(arg));
+   ptr++;
+
    send_data_len++;
  }
 
@@ -128,6 +133,7 @@ void start_tx()
   vw_set_tx_pin(TX_PIN);
   vw_setup(baud_rate);
 
+  send_data_len = sizeof(send_pkt_buffer);
   tx_enabled_flag = 1;
 
   Serial.print("start xmit: period=");