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Revision 1456

Added by Ryan Cahoon over 14 years ago

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sensor_matrix.c
32 32 
 * @author Brian Coltin, Colony Project, CMU Robotics Club
33 33 
 **/
34 34 

  		




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#include <stdlib.h>


  		




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#include <stdio.h>


  		




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#include <wl_defs.h>


  		




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#include "wl_defs.h"


  		




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#include "sensor_matrix.h"


  		




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// the global sensor matrix


  		




  ......




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		m.joined[i] = 0;


  		




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#ifndef BAYBOARD


  		




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		for (j = 0; j < MAXIMUM_XBEE_ID; j++)


  		




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			m.matrix[i][j] = READING_UNKNOWN;


  		




  
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			m.matrix[i][j].dir = READING_UNKNOWN;


  		




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#endif


  		




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	}


  		




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}


  		




  ......




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 * @param robot the id of the robot who the reading is for


  		




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 * @param reading the BOM reading from observer to robot


  		




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 */


  		




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void sensor_matrix_set_reading(int observer, int robot, int reading)


  		




  
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void sensor_matrix_set_reading(int observer, int robot, SensorReading reading)


  		




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{


  		




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#ifndef BAYBOARD


  		




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	if (robot >= MAXIMUM_XBEE_ID || observer >= MAXIMUM_XBEE_ID)


  		




  ......




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		return;


  		




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	}


  		




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	m.matrix[observer][robot] = (unsigned char)reading;


  		




  
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	m.matrix[observer][robot] = reading;


  		




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#endif


  		




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}


  		




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  ......




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 *


  		




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 * @return the observer's BOM reading for robot


  		




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 **/


  		




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int sensor_matrix_get_reading(int observer, int robot)


  		




  
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SensorReading * sensor_matrix_get_reading(int observer, int robot)


  		




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{


  		




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#ifndef BAYBOARD


  		




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	if (observer >= MAXIMUM_XBEE_ID || robot >= MAXIMUM_XBEE_ID)


  		




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		return -1;


  		




  
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		return NULL;


  		




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	return (int)m.matrix[observer][robot];


  		




  
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	return &m.matrix[observer][robot];


  		




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#else


  		




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	return -1;


  		




  
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	return NULL;


  		




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#endif


  		




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}


  		




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