Colony

#ifndef WL_BASIC_H

#define WL_BASIC_H

/** @brief default wireless group for basic sending and receiving packets **/

#define WL_BASIC_GROUP 8

unsigned int xbee_get_address(void);

/**@brief Set the com port on a computer, undefined on the robot**/

void xbee_set_com_port(char* port);

/**@}**/ //end defgroup

/** @} **/ //end addtogroup

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

// missing from the AVR libc distribution.

#include "atomic.h"

#include <stdbool.h>

/** @brief shortcut for ATOMIC_BLOCK(ATOMIC_RESTORESTATE) **/

/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/

int bom_get_max(void);

/** @brief Enables the selected bom leds on a BOM1.5 **/

void bom_set_leds(int bit_field);

#ifndef _I2C_H_

#define _I2C_H_

/** @brief Address of slave receive handler function **/

typedef void (*fun_srecv_t)(char);

typedef char (*fun_send_t)(void);

int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send);

int i2c_request(char dest);

void i2c_packet_rec (char i2c_byte);

 #ifndef _EEPROM_H_

 #define _EEPROM_H_

 #define EEPROM_ROBOT_ID_ADDR 0x10

 #define EEPROM_BOM_TYPE_ADDR 0x14

  wl_token_ring_register();

  wl_token_ring_join(); // join token ring

  usb_puts("token ring joined\r\n");

  int numRobots = 0;

  delay_ms(1000);

#define ON_DELAY 500	// duration of flashes at beginning and end (in ms)

#define OFF_DELAY 250	// delay between flashes at beginning and end (in ms)

    int i;  // index

    int sensor[5] = {IR4, IR3, IR2, IR1, IR5};

    int color[5] = {RED, ORANGE, YELLOW, GREEN, BLUE};

#include <wl_token_ring.h>

#include <stdlib.h>

#include <wl_defs.h>

#include <wireless.h>

		{

			WL_DEBUG_PRINT("Attempting to join the token ring again.\r\n");

			//attempt to rejoin with a random delay

			wl_token_ring_join();

			joinDelay = rand() / (RAND_MAX / JOIN_DELAY) + 1;

		}

 * @author Christopher Mar, Colony Project, CMU Robotics Club

 **/

#include "wl_basic.h"

/**

#include <pthread.h>

#include <errno.h>

#include <termios.h>

#else

#endif

#include <string.h>

#define XBEE_FRAME_START 0x7E

 **/

#include "wl_error_group.h"

#include <string.h>

void wl_error_response_receive(int frame, int received);

void wl_error_handle_receive(char type, int source, unsigned char* packet,

							int length);

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#include "sensor_matrix.h"

// the global sensor matrix

#include "wireless.h"

#include "xbee.h"

#include <stdio.h>

#include "wl_defs.h"

	else

	{

		WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");

	}

}

 * @author Colony Project, CMU Robotics Club

 **/

/* init_dragonfly - Initializes functions based on configuration parameters

   examples:

 *

 * @return zero for success, nonzero for failure

 **/

    int i;

    /* adding data to be sent to ring buffers is not atomic,

 **/

#include <avr/io.h>

#include "serial.h"

/**

 * For use with fprintf() and related stdio functions

 **/

 **/

FILE *xbee_fd;

/**

 * Initializes communication over the USB serial port.

 * This must be called before any other usb function

/** @} **/ //end addtogroup

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

// missing from the AVR libc distribution.

#include "atomic.h"

#include <stdbool.h>

/** @brief shortcut for ATOMIC_BLOCK(ATOMIC_RESTORESTATE) **/

 **/

#include <avr/io.h>

/**

 * @defgroup buzzer Buzzer

#ifndef _I2C_H_

#define _I2C_H_

/** @brief Address of slave receive handler function **/

typedef void (*fun_srecv_t)(char);

typedef char (*fun_send_t)(void);

int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send);

int i2c_request(char dest);

void i2c_packet_rec (char i2c_byte);

 **/

#include <avr/interrupt.h>

#include "spi.h"

 #ifndef _EEPROM_H_

 #define _EEPROM_H_

 #define EEPROM_ROBOT_ID_ADDR 0x10

 #define EEPROM_BOM_TYPE_ADDR 0x14

*/

#include <avr/interrupt.h>

#include <util/delay.h>

/* Calculate how many cycles to delay for to get 1 ms. Based on F_CPU which should be defined by the makefile */

#ifdef F_CPU

#include "encoders.h"

#include "spi.h"

#include "ring_buffer.h"

unsigned int left_data_buf;

unsigned int right_data_buf;

 * @author Colony Project, CMU Robotics Club

 **/

#include <avr/io.h>

//LCD defines

#define RST _BV(4)  // pd4 (GPIO)

#include "odometry.h"

#include <math.h>

#include <avr/interrupt.h>

long lround(double d);

	//Angle swept through in a time step CCW-

	double theta, rl, dc;

	long dr,dl;

	//Get the change in wheel positions

	{	

		diff_x += lround(dl*cos(angle)/1000.0); //mm

		diff_y += lround(dl*sin(angle)/1000.0); //mm

		velocity = lround((dl * 1000.0)/(ODOMETRY_CLK*TIME_SCALE)); //um / ms = mm/s

		return;

	}

	//Distance the center has traveled.

	dc = (theta * (rl - ROBOT_WIDTH_UM)) / 2.0; //um

	velocity = lround( dc * 1000 /(ODOMETRY_CLK*TIME_SCALE));

	//angle is necessarily CCW+, so subtract.

	angle -= ANGLE_SCALE * theta; 

 * @author Colony Project, CMU Robotics Club

 **/

#include "move.h"

#include "rangefinder.h"

 **/

#include <avr/interrupt.h>

/**

 * @defgroup dio Digital Input / Output

 * @author Colony Project, CMU Robotics Club

 **/

#include "bom.h"

#include "dio.h"

#include "serial.h"

 **/

static unsigned int bom_val[NUM_BOM_LEDS];

static int select_pins[4];

static int analog_pin;

 **/

#include <avr/interrupt.h>

#include <util/delay.h>

/**

 * @defgroup reset Reset

*/

#include "rangefinder.h"

/*

  read_distance returns the 8-bit reading from the rangefinder

 * When code is changed, the performance measurements above should be redone.

 */

#include "lights.h"

// ***************

// ** Constants **

// ***************