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99. void slave_reset_calibration()
100.
{
serial_send_blocking("\xB5",1);
101.
}
102.
103.
// calibrate (waits for a 1-byte response to indicate completion)
104.
void slave_auto_calibrate()
105.
{
106.
int tmp_buffer[1];
107.
serial_send_blocking("\xBA",1);
108.
serial_receive_blocking((char *)tmp_buffer, 1, 10000);
109.
}
110.
111.
// sets up the pid constants on the 3pi for line following
112.
void slave_set_pid(char max_speed, char p_num, char p_den, char d_num, char d_den)
113.
{
114.
char string[6] = "\xBB";
115.
string[1] = max_speed;
116.
string[2] = p_num;
117.
string[3] = p_den;
118.
string[4] = d_num;
119.
string[5] = d_den;
120.
serial_send_blocking(string,6);
121.
}
122.
123.
// stops the pid line following
124.
void slave_stop_pid()
125.
{
serial_send_blocking("\xBC", 1);
126.
}
127.
128.
// clear the slave LCD
129.
void slave_clear()
130.
{
serial_send_blocking("\xB7",1);
131.
}
132.
133.
// print to the slave LCD
134.
void slave_print(char *string)
135.
{
136.
serial_send_blocking("\xB8", 1);
137.
char length = strlen(string);
138.
serial_send_blocking(&length, 1);
139.
serial_send_blocking(string, length);
140.
}
141.
142.
// go to coordinates x,y on the slave LCD
143.
void slave_lcd_goto_xy(char x, char y)
144.
{
145.
serial_send_blocking("\xB9",1);
146.
serial_send_blocking(&x,1);
147.
serial_send_blocking(&y,1);
148.
}
149.
150.
int main()
151.
{
152.
char buffer[20];
153.
// load the bar graph
154.
load_custom_characters();
155.
// configure serial clock for 115.2 kbaud
156.
serial_set_baud_rate(115200);
157.
158.
// wait for the device to show up
159.
while(1)
160.
{
161.
clear();
162.
print("Master");
163.
delay_ms(100);
164.
serial_send("\x81",1);
165.
166.
if(serial_receive_blocking(buffer, 6, 50))
167.
continue;
168.
clear();
169.
print("Connect");
170.
lcd_goto_xy(0,1);
171.
buffer[6] = 0;
172.
print(buffer);
// send the string length
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