Serial Communication in 2 robot via Bluetooth

S

Thread Starter

sunny

hello,

I want to write 2 programs with C , one work on Robot1, the other work on Robot2.

So I want the program to send a signal from Robot1 via Bluetooth to Robot2 and Robot2 handles and accepts this signal (message)and reply to Robot1. how to code?

API Of my Robots:<pre>
/* function for serial communication */
void SerWrite(unsigned char *data,unsigned char length)
{
unsigned char i = 0;
UCSRB = 0x08; // enable transmitter
while (length > 0) {
if (UCSRA & 0x20) { // wait for empty transmit buffer
UDR = data[i++];
length --;
}
}
while (!(UCSRA & 0x40));
for (i = 0; i < 0xFE; i++)
for(length = 0; length < 0xFE; length++);
}

void SerRead(unsigned char *data, unsigned char length,unsigned int timeout)
{
unsigned char i = 0;
unsigned int time = 0;
UCSRB = 0x10; // enable receiver
/* non blocking */
if (timeout != 0) {
while (i < length && time++ < timeout) {
if (UCSRA & 0x80) {
data[i++] = UDR;
time = 0;
}
}
if (time > timeout) data[0] = 'T';
}
/* blocking */
else {
while (i < length) {
if (UCSRA & 0x80)
data[i++] = UDR;
}
}
}
--------------------------------------------------Bluetooth model code....

#include "asuro.h"

void Sekunden(unsigned int s) //Unterprogramm für Sekundenschleife (maximal 65s)
{
unsigned int t; // Definierung t als Vorzeichenloses int
for(t=0;t<s*1000;t++) // 1000*s durchlaufen
{
Sleep(72); // = 1ms
}
}

int main (void)
{
unsigned char daten[2], merker=0; //Speicher bereitstellen, merker für start/stop
Init();
UBRRL = 0x67; //4800bps @ 8MHz
Marke: // Endlosschleife
SerRead(daten,1,0); // Daten einlesen
switch (daten[0]) //und verarbeiten
{
case 0x38: MotorDir(FWD,FWD); // Vorwärts
MotorSpeed(merker*120,merker*120);
SerWrite("Vor \r",22);
break;
case 0x36: MotorDir(FWD,FWD); // Links
MotorSpeed(merker*120,merker*170);
SerWrite("Links \r",22);
break;
case 0x37: MotorDir(RWD,RWD); // Rückwärts
MotorSpeed(merker*120,merker*120);
SerWrite("Zurueck \r",22);
break;
case 0x34: MotorDir(FWD,FWD); // Rechts
MotorSpeed(merker*170,merker*120);
SerWrite("Rechts \r",22);
break;
case 0x35: if(merker==1)
{
MotorDir(FREE,FREE);// Stop
MotorSpeed(0,0);
SerWrite("Stop \r",22);
merker=0;
break;
}
else
{
MotorDir(FWD,FWD);// Start
MotorSpeed(120,120);
SerWrite("Start \r",22);
merker=1;
break;
}

}
--------------------------------------------------
</pre>
 
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