Reduce delay between loops and add RF commands for RF remote control

diff --git a/cape_rccar/main.c b/cape_rccar/main.c
index 0ed4b66..b279b7c 100644 (file)
--- a/cape_rccar/main.c
+++ b/cape_rccar/main.c
@@ -449,6 +449,28 @@ void handle_rf_rx_data(void)
 #if (DEBUG == 1)
        uprintf(UART_DEBUG, "RF: ret:%d, st: %d.\n", ret, status);
 #endif
+
+       if (ret <= 0) {
+               return;
+       }
+
+       switch (data[2]) {
+               case 'D':
+                       if (data[3] > DIRECTION_CTRL_SERVO_MAX) {
+                               data[3] = DIRECTION_CTRL_SERVO_MAX;
+                       }
+                       if (data[3] < DIRECTION_CTRL_SERVO_MIN) {
+                               data[3] = DIRECTION_CTRL_SERVO_MIN;
+                       }
+                       set_servo(UART_DEBUG, DIRECTION_CTRL_SERVO, data[3]);
+                       break;
+               case 'S':
+                       set_servo(UART_DEBUG, SPEED_CTRL_SERVO, data[3]);
+                       break;
+               default:
+                       uprintf(UART_DEBUG, "Received unhandled command on RF\n");
+                       break;
+       }
 }
 
 void send_on_rf(void)
@@ -631,7 +653,7 @@ int main(void)
                tmp101_sensor_start_conversion(&tmp101_sensor); /* A conversion takes about 40ms */
 
                /* Tell we are alive :) */
-               chenillard(250);
+               chenillard(10);
 
                /* Read the temperature */
                if (tmp101_sensor_read(&tmp101_sensor, NULL, &board_temp) != 0) {