diff --git a/NodeMCU/OSCWifiBridge/OSCWifiBridge.ino b/NodeMCU/OSCWifiBridge/OSCWifiBridge.ino index 2cf8a17..a114bc0 100644 --- a/NodeMCU/OSCWifiBridge/OSCWifiBridge.ino +++ b/NodeMCU/OSCWifiBridge/OSCWifiBridge.ino @@ -11,7 +11,7 @@ char ssid[] = "ROBOT"; char pass[] = "myrobotisawesome"; -const long sendInterval = 25; // in ms +const long sendInterval = 30; // in ms WiFiUDP Udp; @@ -72,7 +72,7 @@ void setup() { IPAddress apip = WiFi.softAPIP(); pinMode(LED_BUILTIN, OUTPUT); //Serial.begin(115200); - Serial.begin(57600); + Serial.begin(250000); Serial.println(); Serial.print("AP IP: "); Serial.println(apip); @@ -82,17 +82,18 @@ void setup() { pPacket->MagicWordLow = 0x0DED; pPacket->MagicWordHigh = 0x0DEC; - pPacket->Throttle = 0; - pPacket->Steering = 0; - pPacket->Kp = 0; - pPacket->Ki = 0; - pPacket->Kd = 0; + pPacket->Throttle = 1; + pPacket->Steering = 2; + pPacket->Kp = 3; + pPacket->Ki = 4; + pPacket->Kd = 5; pPacket->Enabled = false; pPacket->checksum = 0; } void sendPacket() { + calcChecksum(); Serial.write(buffer, bufferSize); } @@ -108,7 +109,7 @@ void OSCMsgReceive() } if (!msgIN.hasError()) { - msgIN.route("/Robot/Enable",toggleEnabled); + msgIN.route("/Robot/Enable",funcEnabled); msgIN.route("/Fader/Throttle",funcThrottle); msgIN.route("/Fader/Steering",funcSteering); msgIN.route("/Gain/Kp",funcKp); @@ -121,7 +122,6 @@ void OSCMsgReceive() void sendUdp(OSCMessage* pMessage) { IPAddress remoteIp = Udp.remoteIP(); - //outIp = Udp.remoteIP(); if (remoteIp != outIp) { outIp = remoteIp; @@ -136,11 +136,9 @@ void sendUdp(OSCMessage* pMessage) pMessage->send(Udp); // send the bytes Udp.endPacket(); // mark the end of the OSC Packet pMessage->empty(); // free space occupied by message - - calcChecksum(); } -void toggleEnabled(OSCMessage &msg, int addrOffset){ +void funcEnabled(OSCMessage &msg, int addrOffset){ ledState = !(boolean) msg.getFloat(0); OSCMessage msgOUT("/Robot/Enable"); @@ -148,7 +146,7 @@ void toggleEnabled(OSCMessage &msg, int addrOffset){ msgOUT.add(!ledState); sendUdp(&msgOUT); - pPacket->Enabled = ledState; + pPacket->Enabled = !ledState; //Serial.println( ledState ? "Robot disabled" : "Robot enabled"); }