6.1 KiB
Main
Use main.cpp to start the control loop.
Data Link Sample Code
See main_rmt_test.cpp for more details for Data Link Layer usage.
To run the sample code, add the compiler variable RMT_TEST=1 when compiling: idf.py build -D RMT_TEST=1. To run the main program, simply set RMT_TEST to 0 or perform a fullclean and rebuild without the compiler variable.
Testing with Multiple Boards
With main_rmt_test.cpp, flash one or more boards, ensuring that BOARD_ID are unique and RECEIVER_BOARD_ID is a board that exists and is connected on the same network.
Please note that SRC_BOARD and RECEIVER_BOARD should be an 8 bit value (that is not 0x0 or 0xFF).
Example Usage:
Board A: idf.py -B ./build_A build -D SRC_BOARD=1 -D RECEIVER_BOARD=69 -D RMT_TEST=1 flash monitor -p COM3
Board B: idf.py -B ./build_B build -D SRC_BOARD=69 -D RECEIVER_BOARD=1 -D RMT_TEST=1 flash monitor -p COM4
Receive Only
A board can be set to only receive frames by setting the compiler flag RECEIVE_ONLY=1 (and conversely unset by setting to 0).
VSCode Intellisense Parsing
With the preprocessor if blocks, intellisense may gray out certain code blocks. To change this behaviour, modify your C/C++ configuration under Defines or modify your .vscode/c_cpp_properties.json file itself to make certain code blocks visible.
Expected Behaviour
When monitoring both boards, you should see Received message '%.*s' on channel %d from board %d seq num %d when a board received a message (usually after the message Sent %zu B sized in %" PRIu64 " us from channel %d on the other board). When RIP frames are broadcasted, the other boards should receive that RIP frame (usually accompanied with a debug message) and broadcast their own table.
The specific message being sent can vary depending on the setup (determined at compile time). Simply changing the snprintf on the send_buf and/or FrameType argument of send() will change the message/frames being sent (from the perspective of the user).
Preprogrammed Movements Sample Code
See main_preprogrammed_test.cpp.
To run the sample code, add the compiler variable PP_MOVE=1 when compiling.
You can use the SRC_BOARD compiler variable to set a custom board id.
cat
⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⣴⣿⣿⡷⣄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⣴⣿⡿⠋⠈⠻⣮⣳⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⣠⣴⣾⡿⠋⠀⠀⠀⠀⠙⣿⣿⣤⣀⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⣤⣶⣿⡿⠟⠛⠉⠀⠀⠀⠀⠀⠀⠀⠈⠛⠛⠿⠿⣿⣷⣶⣤⣄⣀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣠⣴⣾⡿⠟⠋⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠉⠛⠻⠿⣿⣶⣦⣄⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀ ⠀⠀⠀⣀⣠⣤⣤⣀⡀⠀⠀⣀⣴⣿⡿⠛⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠉⠛⠿⣿⣷⣦⣄⡀⠀⠀⠀⠀⠀⠀⠀⢀⣀⣤⣄⠀⠀ ⢀⣤⣾⡿⠟⠛⠛⢿⣿⣶⣾⣿⠟⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠉⠛⠿⣿⣷⣦⣀⣀⣤⣶⣿⡿⠿⢿⣿⡀⠀ ⣿⣿⠏⠀⢰⡆⠀⠀⠉⢿⣿⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠙⠻⢿⡿⠟⠋⠁⠀⠀⢸⣿⠇⠀ ⣿⡟⠀⣀⠈⣀⡀⠒⠃⠀⠙⣿⡆⠀⠀⠀⠀⠀⠀⠀⣀⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢸⣿⠇⠀ ⣿⡇⠀⠛⢠⡋⢙⡆⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣾⣿⣿⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣿⣿⠀⠀ ⣿⣧⠀⠀⠀⠓⠛⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠘⠛⠋⠀⠀⢸⣧⣤⣤⣶⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⣿⡿⠀⠀ ⣿⣿⣤⣀⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠉⠉⠉⠻⣷⣶⣶⡆⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⣿⣿⠁⠀⠀ ⠈⠛⠻⠿⢿⣿⣷⣶⣦⣤⣄⣀⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣴⣿⣷⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣾⣿⡏⠀⠀⠀ ⠀⠀⠀⠀⠀⠀⠀⠉⠙⠛⠻⠿⢿⣿⣷⣶⣦⣤⣄⣀⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠙⠿⠛⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠘⢿⣿⡄⠀⠀ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠉⠙⠛⠻⠿⢿⣿⣷⣶⣦⣤⣄⣀⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⢿⣿⡄⠀ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠉⠉⠛⠛⠿⠿⣿⣷⣶⣶⣤⣤⣀⡀⠀⠀⠀⢀⣴⡆⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⢿⡿⣄ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠉⠉⠛⠛⠿⠿⣿⣷⣶⡿⠋⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⣿⣹ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣿⣿⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⣀⣀⠀⠀⠀⠀⠀⠀⢸⣧ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢻⣿⣆⠀⠀⠀⠀⠀⠀⢀⣀⣠⣤⣶⣾⣿⣿⣿⣿⣤⣄⣀⡀⠀⠀⠀⣿ ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠻⢿⣻⣷⣶⣾⣿⣿⡿⢯⣛⣛⡋⠁⠀⠀⠉⠙⠛⠛⠿⣿⣿⡷⣶⣿
good kitty