Pololu 3pi Robot User Manual

Page 59

// print to the slave LCD

void slave_print(char *string)

{

serial_send_blocking("\xB8", 1);

char length = strlen(string);

serial_send_blocking(&length, 1); // send the string length

serial_send_blocking(string, length);

}

// go to coordinates x,y on the slave LCD

void slave_lcd_goto_xy(char x, char y)

{

serial_send_blocking("\xB9",1);

serial_send_blocking(&x,1);

serial_send_blocking(&y,1);

}

int main()

{

char buffer[20];

// load the bar graph

load_custom_characters();

// configure serial clock for 115.2 kbaud

serial_set_baud_rate(115200);

// wait for the device to show up

while(1)

{

clear();

print("Master");

delay_ms(100);

serial_send("\x81",1);

if(serial_receive_blocking(buffer, 6, 50))

continue;

clear();

print("Connect");

lcd_goto_xy(0,1);

buffer[6] = 0;

print(buffer);

// clear the slave's LCD and display "Connect" and "OK" on two lines

// Put OK in the center to test x-y positioning

slave_clear();

slave_print("Connect");

slave_lcd_goto_xy(3,1);

slave_print("OK");

// play a tune

char tune[] = "\xB3 l16o6gab>c";

tune[1] = sizeof(tune)-3;

serial_send_blocking(tune,sizeof(tune)-1);

// wait

wait_for_button(ALL_BUTTONS);

// reset calibration

slave_reset_calibration();

time_reset();

slave_auto_calibrate();

unsigned char speed1 = 0, speed2 = 0;

// read sensors in a loop

while(1)

{

serial_send("\x87",1); // returns calibrated sensor values

// read 10 characters

if(serial_receive_blocking(buffer, 10, 100))

break;

Pololu 3pi Robot User's Guide

10. Expansion Information

Page 59 of 63