Revision 1554
include/libwireless/sensor_matrix.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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7 |
* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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11 |
* conditions: |
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* |
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13 |
* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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|
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/** |
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* @file sensor_matrix.h |
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* @brief Definitions for sensor matrices |
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* |
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* Contains functions and declarations for using sensor matrices. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club |
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**/ |
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|
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#ifndef SENSOR_MATRIX_H |
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#define SENSOR_MATRIX_H |
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/** |
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* @defgroup sensormatrix Sensor Matrix |
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* @brief the robot sensor matrix |
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* |
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* These functions and structures are used for localization |
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* to determine the relative directions of robots. |
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* |
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* @{ |
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**/ |
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|
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#define MAXIMUM_XBEE_ID 0x10 |
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#define READING_UNKNOWN 0xFF |
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/** |
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* @struct SensorMatrix |
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* |
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* A sensor matrix. |
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**/ |
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//TODO: the order of member variables in this struct should be changed in case the compile packs the struct |
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// In order to achieve the best packing, the variables should be listed in order of decreasing memory size. |
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// Thus, pointers should be first, followed by int, followed by char. |
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typedef struct |
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{ |
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/** |
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* The number of robots in the token ring. |
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**/ |
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int numJoined; |
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/** |
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* The element representing a robot is true if that robot |
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* is in the token ring and false otherwise. |
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**/ |
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unsigned char joined[MAXIMUM_XBEE_ID]; |
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|
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// on the bayboard, we don't include the matrix to save memory. |
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#ifndef BAYBOARD |
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/** |
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* The matrix. Each row represents the readings of one |
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* robot. |
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**/ |
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unsigned char matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID]; |
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#endif |
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} SensorMatrix; |
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/**@brief Create a sensor matrix **/ |
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void sensor_matrix_create(void); |
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/**@brief Set a reading in a sensor matrix **/ |
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void sensor_matrix_set_reading(int observer, int robot, int reading); |
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/**@brief Get a reading in a sensor matrix **/ |
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int sensor_matrix_get_reading(int observer, int robot); |
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/**@brief Set whether the robot is in the token ring **/ |
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void sensor_matrix_set_in_ring(int robot, int in); |
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/**@brief Get whether the robot is in the sensor ring **/ |
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int sensor_matrix_get_in_ring(int robot); |
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/**@brief Get the number of robots which have joined the token ring **/ |
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int sensor_matrix_get_joined(void); |
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/**@brief Get the maximum size of the sensor matrix **/ |
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int sensor_matrix_get_size(void); |
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/** @} **/ //end defgroup |
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#endif |
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include/libwireless/wireless.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
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* Software is furnished to do so, subject to the following |
|
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* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
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16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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|
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/** |
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* @file wireless.h |
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* @brief Contains definitions for the wireless library. |
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* |
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* Contains functions for the wireless library. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club |
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**/ |
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#ifndef WIRELESS_H |
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#define WIRELESS_H |
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//Note: If this is raised above 16, we will need to do |
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//something about frame numbers for TX Status packets. |
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/** |
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* The maximum number of packet groups. |
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**/ |
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//TODO: a PacketGroupHandler is at least 10 bytes (I don't know if function pointers are 2 bytes |
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// or 4 bytes). That means that in the c file, your array of packet groups is at least 160 bytes. |
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// Normally that might be fine (the robot's avr chips have 4k SRAM), but austin's chip only has |
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// 1k SRAM, so if this number can be reduced or if the size of the struct could be reduced, that would be a plus. |
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#define WL_MAX_PACKET_GROUPS 16 |
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/** |
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* @defgroup wireless Wireless |
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* @brief Wireless definitions. |
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* |
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* Contains functions and definitions for dealing with wireless functionality.<br><br> |
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* |
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* The wireless library provides a modular method for dealing with |
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* wireless packets, by allowing packet groups to be registered. |
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* A packet group is a collection of packets which share a packet |
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* group code. Each packet in the group also has a type. A packet |
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* group code and type are sent with each packet. When a packet |
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* with a group code registered in the wireless library is |
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* received, the corresponding event handler is called. The |
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* event handler uses the packet type and other information |
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* stored in the packet to respond.<br><br> |
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* |
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* This architecture allows different wireless functionality to be |
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* defined and handled separately, making it simpler and more |
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* efficient to take advantage of the XBee's wireless functionality. |
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* |
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* @{ |
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**/ |
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|
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/** |
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* @struct PacketGroupHandler |
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* A PacketGroupHandler represents a packet group, and is used to |
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* register a packet group with the wireless library. It contains |
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* handlers for various events which can occur related to a packet |
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* group. |
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**/ |
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//TODO: the order of member variables in this struct should be changed in case the compile packs the struct |
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// In order to achieve the best packing, the variables should be listed in order of decreasing memory size. |
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// Thus, pointers should be first, followed by int, followed by char. |
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typedef struct |
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{ |
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/** |
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* The group code for this packet group. This number |
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* must be unique. The maximum number of packet groups |
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* is defined by WL_MAX_PACKET_GROUPS. |
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**/ |
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//TODO: if this number must be less than or equal to WL_MAX_PACKET_GROUPS, don't you only need |
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// one byte for it and it can be made an unsigned char? |
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unsigned int groupCode; |
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/** |
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* Called every half second (not in interrupt, |
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* but in wl_do). |
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**/ |
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void (*timeout_handler) (void); |
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/** |
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* Called when a transmit status packet is received |
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* from the XBee where the first four bits of the frame |
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* are the group code. |
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* |
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* @param frame the last four bits of the frame |
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* @param received is true if we received an ack, 0 if |
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* we did not. |
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**/ |
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void (*handle_response) (int frame, int received); |
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/** |
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* Called when we receive a packet from this group. |
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* |
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* @param type the packet type |
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* @param source the 16-bit address of the XBee this |
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* packet was sent from |
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* @param packet the packet received |
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* @param length the length of the packet |
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**/ |
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void (*handle_receive) (char type, int source, unsigned char* packet, int length); |
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|
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/** |
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* Called for any cleanup when the network is turned off. |
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**/ |
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void (*unregister) (void); |
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} PacketGroupHandler; |
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/**@brief Initialize the wireless library **/ |
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int wl_init(void); |
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/**@brief Uninitialize the wireless library **/ |
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void wl_terminate(void); |
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/**@brief Perform wireless library functionality **/ |
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void wl_do(void); |
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/**@brief Register a packet group with the wireless library **/ |
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void wl_register_packet_group(PacketGroupHandler* h); |
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/**@brief Unregister a packet group with the wireless library **/ |
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void wl_unregister_packet_group(PacketGroupHandler* h); |
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|
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/**@brief Send a packet to a specific robot in any PAN **/ |
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int wl_send_robot_to_robot_global_packet(char group, char type, char* data, int len, int dest, char frame); |
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/**@brief Send a packet to a specific robot in our PAN **/ |
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int wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame); |
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/**@brief Send a packet to all robots **/ |
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int wl_send_global_packet(char group, char type, char* data, int len, char frame); |
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/**@brief Send a packet to all robots in our PAN **/ |
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void wl_send_pan_packet(char group, char type, char* data, int len, char frame); |
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|
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/**@brief Set the PAN we are using **/ |
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int wl_set_pan(int pan); |
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/**@brief Get the PAN we are using **/ |
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int wl_get_pan(void); |
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/**@brief Set the channel we are using **/ |
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int wl_set_channel(int channel); |
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/**@brief Get the channel we are using **/ |
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int wl_get_channel(void); |
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/**@brief Get the 16-bit address of the XBee module **/ |
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int wl_get_xbee_id(void); |
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/**@brief Set the com port on a computer, undefined on the robot.**/ |
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void wl_set_com_port(char* port); |
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/** @} **/ // end defgroup |
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#endif |
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include/libwireless/wl_token_ring.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
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|
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/** |
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* @file wl_token_ring.h |
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* @brief Declarations for the token ring packet group |
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* |
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* Contains declarations for the token ring packet group. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club |
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**/ |
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|
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#ifndef WL_TOKEN_RING_H |
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#define WL_TOKEN_RING_H |
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|
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/** |
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* @defgroup tokenring Token Ring |
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* @brief Wireless library token ring implementation |
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* |
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* This packet group is used to form a token ring, which |
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* keeps track of the relative directions of the robots |
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* from one another. |
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* |
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* @{ |
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**/ |
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|
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/**@brief Register the token ring group with the wireless library.**/ |
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int wl_token_ring_register(void); |
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/**@brief Unregister the token ring group with the wirelss library.**/ |
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void wl_token_ring_unregister(void); |
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/**@brief Set the functions called to turn the bom on and off.**/ |
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void wl_token_ring_set_bom_functions(void (*on_function) (void), void (*off_function) (void), |
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int (*max_bom_function) (void)); |
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|
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/**@brief Join the token ring **/ |
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int wl_token_ring_join(void); |
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/**@brief Leave the token ring **/ |
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void wl_token_ring_leave(void); |
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|
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/**@brief Return the number of robots in the token ring **/ |
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int wl_token_get_robots_in_ring(void); |
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/**@brief Return whether a given robot is in the token ring **/ |
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int wl_token_is_robot_in_ring(int robot); |
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|
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/**@brief Begin iterating through robots in the token ring **/ |
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void wl_token_iterator_begin(void); |
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/**@brief Returns whether there are more robots to iterate through **/ |
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int wl_token_iterator_has_next(void); |
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/**@brief Returns the ID of the next robot in the token ring **/ |
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int wl_token_iterator_next(void); |
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|
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/**@brief Return the latest BOM reading between two robots **/ |
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int wl_token_get_sensor_reading(int source, int dest); |
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/**@brief Return the latest BOM reading between us and another robot **/ |
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int wl_token_get_my_sensor_reading(int dest); |
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/**@brief Return the number of robots in the sensor matrix.*/ |
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int wl_token_get_num_robots(void); |
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/**@brief Return the number of non-null elements in the sensor matrix*/ |
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int wl_token_get_matrix_size(void); |
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|
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/** @} **/ //end token ring group |
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|
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#endif |
include/libwireless/xbee.h | ||
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1 |
/** |
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2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
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27 |
* @file xbee.h |
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28 |
* @brief Contains definitions for using the XBee |
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29 |
* |
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30 |
* Contains definitions for interfacing with the |
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* XBee module, from either a robot or a computer. |
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32 |
* To use a robot, define ROBOT in wl_defs.h, and |
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33 |
* to use a computer, don't define ROBOT. |
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34 |
* |
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35 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
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36 |
**/ |
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37 |
|
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38 |
#ifndef XBEE_H |
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39 |
#define XBEE_H |
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40 |
|
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/** |
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42 |
* The port to use the XBee from on the computer. |
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43 |
* Also, a backup port if the other is used. |
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44 |
**/ |
|
45 |
#ifndef ROBOT |
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46 |
#define XBEE_PORT_DEFAULT "/dev/ttyUSB1" |
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#endif |
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48 |
|
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/** |
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50 |
* @defgroup xbee XBee |
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51 |
* @brief Interface with the XBee module |
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52 |
* |
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53 |
* Interface with the XBee module. |
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54 |
* |
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55 |
* @{ |
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56 |
**/ |
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|
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/*Definitions*/ |
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59 |
/**@brief Unset PAN, uses XBee default **/ |
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#define XBEE_PAN_DEFAULT 0xFFFF |
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61 |
/**@brief Unset channel, uses XBee default **/ |
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62 |
#define XBEE_CHANNEL_DEFAULT 0 |
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63 |
/**@brief Broadcast to all robots in the PAN **/ |
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64 |
#define XBEE_BROADCAST 0xFFFF |
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65 |
/**@brief No special options **/ |
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66 |
#define XBEE_OPTIONS_NONE 0x00 |
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/**@brief Do not receive a TX_STATUS message from this packet **/ |
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#define XBEE_OPTIONS_DISABLE_RESPONSE 0x01 |
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/**@brief Send the packet to all PANS **/ |
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#define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04 |
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/**@brief A transmit status packet **/ |
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72 |
#define XBEE_TX_STATUS 0x89 |
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73 |
/**@brief A packet received from another XBee **/ |
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74 |
#define XBEE_RX 0x81 |
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75 |
|
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76 |
/**@brief Initialize the XBee library **/ |
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77 |
int xbee_lib_init(void); |
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78 |
/**@brief Uninitialize the XBee library **/ |
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79 |
void xbee_terminate(void); |
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80 |
/**@brief Get a packet from the XBee **/ |
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81 |
int xbee_get_packet(unsigned char* packet); |
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82 |
/**@brief Send a packet to the XBee **/ |
|
83 |
int xbee_send_packet(char* packet, int len, int dest, char options, char frame); |
|
84 |
/**@brief Set the PAN ID for the XBee **/ |
|
85 |
int xbee_set_pan_id(int id); |
|
86 |
/**@brief Get the XBee's PAN ID **/ |
|
87 |
unsigned int xbee_get_pan_id(void); |
|
88 |
/**@brief Set the channel the XBee is currently using **/ |
|
89 |
int xbee_set_channel(int channel); |
|
90 |
/**@brief Get the channel the XBee is currently using **/ |
|
91 |
int xbee_get_channel(void); |
|
92 |
/**@brief Get the XBee's 16-bit address **/ |
|
93 |
unsigned int xbee_get_address(void); |
|
94 |
/**@brief Set the com port on a computer, undefined on the robot**/ |
|
95 |
void xbee_set_com_port(char* port); |
|
96 |
|
|
97 |
/**@}**/ //end defgroup |
|
98 |
|
|
99 |
#endif |
include/libwireless/wl_basic.h | ||
---|---|---|
1 |
/** |
|
2 |
* @file wl_basic.h |
|
3 |
* @brief High Level Wireless Packet Sending-Receiving Functions |
|
4 |
* |
|
5 |
* Abstracted wireless functionality for sending and receiving packets |
|
6 |
* |
|
7 |
* @author Christopher Mar, Colony Project, CMU Robotics Club |
|
8 |
**/ |
|
9 |
|
|
10 |
/** |
|
11 |
* @defgroup wl_basic Wireless Basic |
|
12 |
* @brief Wireless abstraction for easily sending and receing packets. |
|
13 |
* |
|
14 |
* A high level abstraction of the wireless library. |
|
15 |
* |
|
16 |
* This will allow you to easily send and receive packets. |
|
17 |
* |
|
18 |
* @{ |
|
19 |
**/ |
|
20 |
|
|
21 |
#ifndef WL_BASIC_H |
|
22 |
#define WL_BASIC_H |
|
23 |
|
|
24 |
#include <wireless.h> |
|
25 |
|
|
26 |
/** @brief default wireless group for basic sending and receiving packets **/ |
|
27 |
#define WL_BASIC_GROUP 8 |
|
28 |
|
|
29 |
/** @brief PacketGroupHandler struct for Basic Group **/ |
|
30 |
PacketGroupHandler wl_basic_group_handler; |
|
31 |
|
|
32 |
/** |
|
33 |
* @brief struct that contains relevant packet information |
|
34 |
**/ |
|
35 |
struct PacketInfo { |
|
36 |
char new_flag; |
|
37 |
char type; |
|
38 |
int source; |
|
39 |
unsigned char* data; |
|
40 |
int length; |
|
41 |
}; |
|
42 |
|
|
43 |
/** |
|
44 |
* @brief current packet information, correct after wl_basic_do() |
|
45 |
**/ |
|
46 |
struct PacketInfo current_packet; |
|
47 |
|
|
48 |
/** @brief init wireless for Basic Group **/ |
|
49 |
int wl_basic_init( void (*handle_receive) (char type, int source, unsigned char* packet, int length) ); |
|
50 |
/** @brief init wireless for Basic Group with default packet handling **/ |
|
51 |
int wl_basic_init_default( void ); |
|
52 |
/** @brief internal function to register a packet handler function **/ |
|
53 |
void wl_basic_register_handler( void (*handle_receive) (char type, int source, unsigned char* packet, int length) ); |
|
54 |
/** @brief send a packet to a single robot in Basic Group **/ |
|
55 |
void wl_basic_send_robot_packet( char type, char* data, int len, int dest ); |
|
56 |
/** @brief send a packet to all robots in Basic Group **/ |
|
57 |
void wl_basic_send_global_packet( char type, char* data, int len ); |
|
58 |
/** @brief internal default packet handler if none is specified on init **/ |
|
59 |
void wl_basic_packet_receive_handler( char type, int source, unsigned char* packet, int length ); |
|
60 |
/** @brief wrapper for wl_do() to return packet data buffer **/ |
|
61 |
unsigned char* wl_basic_do_default( int *length ); |
|
62 |
/** @} **/ // end defgroup |
|
63 |
|
|
64 |
#endif |
|
65 |
|
include/libwireless/wl_defs.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file wl_defs.h |
|
28 |
* @brief Definitions for Wireless |
|
29 |
* |
|
30 |
* Contains definitions for wireless packet groups, packet types, |
|
31 |
* debugging information, etc. |
|
32 |
* |
|
33 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
36 |
#ifndef WL_DEFS_H |
|
37 |
#define WL_DEFS_H |
|
38 |
|
|
39 |
//comment out this line if using a computer hooked up to an xbee |
|
40 |
//#define ROBOT |
|
41 |
|
|
42 |
//uncomment this line for debug information |
|
43 |
//#define WL_DEBUG |
|
44 |
|
|
45 |
// Packet Groups and Types |
|
46 |
|
|
47 |
// Error group |
|
48 |
#define WL_ERROR_GROUP 1 |
|
49 |
|
|
50 |
#define WL_ERROR_STRING_TYPE 1 |
|
51 |
|
|
52 |
// Token Ring group |
|
53 |
#define WL_TOKEN_RING_GROUP 2 |
|
54 |
|
|
55 |
#define WL_TOKEN_PASS 1 |
|
56 |
#define WL_TOKEN_SENSOR_MATRIX 2 |
|
57 |
#define WL_TOKEN_BOM_ON 3 |
|
58 |
#define WL_TOKEN_JOIN 4 |
|
59 |
#define WL_TOKEN_JOIN_ACCEPT 5 |
|
60 |
|
|
61 |
// timing constants |
|
62 |
#ifndef FIREFLY |
|
63 |
#define BOM_DELAY 100 |
|
64 |
#else |
|
65 |
#define BOM_DELAY 200 |
|
66 |
#endif |
|
67 |
|
|
68 |
#define DEATH_DELAY 4 |
|
69 |
#define JOIN_DELAY 8 |
|
70 |
|
|
71 |
#ifdef WL_DEBUG |
|
72 |
|
|
73 |
#ifdef ROBOT |
|
74 |
#include <serial.h> |
|
75 |
#endif |
|
76 |
|
|
77 |
#ifdef ROBOT |
|
78 |
#define WL_DEBUG_PRINT( s ) usb_puts( s ) |
|
79 |
#else |
|
80 |
#define WL_DEBUG_PRINT( s ) printf( s ) |
|
81 |
#endif |
|
82 |
|
|
83 |
#ifdef ROBOT |
|
84 |
#define WL_DEBUG_PRINT_INT( i ) usb_puti(i) |
|
85 |
#else |
|
86 |
#define WL_DEBUG_PRINT_INT( i ) printf("%i", i) |
|
87 |
#endif |
|
88 |
|
|
89 |
#else |
|
90 |
|
|
91 |
#define WL_DEBUG_PRINT( s ) |
|
92 |
#define WL_DEBUG_PRINT_INT( i ) |
|
93 |
|
|
94 |
#endif |
|
95 |
|
|
96 |
#endif |
|
97 |
|
include/libwireless/queue.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file queue.h |
|
28 |
* @brief A queue implementation |
|
29 |
* |
|
30 |
* Implements a queue, a first in, first out data structure. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
35 |
#ifndef WIRELESS_QUEUE_H |
|
36 |
#define WIRELESS_QUEUE_H |
|
37 |
|
|
38 |
#ifndef ROBOT |
|
39 |
#include <pthread.h> |
|
40 |
#endif |
|
41 |
|
|
42 |
struct node_def; |
|
43 |
|
|
44 |
/** |
|
45 |
* @defgroup queue Queue |
|
46 |
* @brief A queue implementation |
|
47 |
* |
|
48 |
* A queue implementation. |
|
49 |
* |
|
50 |
* @{ |
|
51 |
**/ |
|
52 |
|
|
53 |
/** |
|
54 |
* @struct Queue |
|
55 |
* Represents a queue, a first in, first out data structure. |
|
56 |
**/ |
|
57 |
typedef struct |
|
58 |
{ |
|
59 |
/** |
|
60 |
* The head of the queue, the next item to be removed. |
|
61 |
**/ |
|
62 |
struct node_def* head; |
|
63 |
/** |
|
64 |
* The tail of the queue, the last item added. |
|
65 |
**/ |
|
66 |
struct node_def* tail; |
|
67 |
/** |
|
68 |
* The number of elements in the queue. |
|
69 |
**/ |
|
70 |
int size; |
|
71 |
|
|
72 |
#ifndef ROBOT |
|
73 |
pthread_mutex_t lock; |
|
74 |
#endif |
|
75 |
} Queue; |
|
76 |
|
|
77 |
/** @brief Create a new queue **/ |
|
78 |
Queue* queue_create(void); |
|
79 |
/** @brief Destroy a queue **/ |
|
80 |
void queue_destroy(Queue* q); |
|
81 |
/** @brief Add an element to a queue **/ |
|
82 |
int queue_add(Queue* q, void* item); |
|
83 |
/** @brief Remove an element from a queue **/ |
|
84 |
void* queue_remove(Queue* q); |
|
85 |
/** @brief Remove all instances of a given element from a queue **/ |
|
86 |
void queue_remove_all(Queue* q, void* item); |
|
87 |
/** @brief Get the size of a queue **/ |
|
88 |
int queue_size(Queue* q); |
|
89 |
/** @brief Check if the queue is empty **/ |
|
90 |
int queue_is_empty(Queue* q); |
|
91 |
|
|
92 |
/** @} **/ |
|
93 |
|
|
94 |
|
|
95 |
#endif |
include/libwireless/wl_error_group.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file wl_error_group.h |
|
28 |
* @brief Error Packets |
|
29 |
* |
|
30 |
* A packet group for sending error packets. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
35 |
#ifndef WL_ERROR_GROUP_H |
|
36 |
#define WL_ERROR_GROUP_H |
|
37 |
|
|
38 |
/** |
|
39 |
* @file wl_error_group.h |
|
40 |
* @brief A packet group for error messages. |
|
41 |
* |
|
42 |
* A packet group for sending and receiving error |
|
43 |
* messages. |
|
44 |
* |
|
45 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
46 |
**/ |
|
47 |
|
|
48 |
/** |
|
49 |
* @defgroup wlerror Error Packets |
|
50 |
* @brief Functions for sending and receiving error packets |
|
51 |
* |
|
52 |
* Functions for sending and receiving error packets. |
|
53 |
* |
|
54 |
* @{ |
|
55 |
**/ |
|
56 |
|
|
57 |
/**@brief Register this packet group with the wireless library **/ |
|
58 |
void wl_error_register(void); |
|
59 |
/**@brief Unregister this packet group with the wireless library **/ |
|
60 |
void wl_error_unregister(void); |
|
61 |
/**@brief Send a string in an error packet **/ |
|
62 |
void wl_error_send_string(char* str); |
|
63 |
|
|
64 |
/** @} **/ // end defgroup |
|
65 |
|
|
66 |
#endif |
include/libdragonfly/lights.h | ||
---|---|---|
1 |
// FIXME remove |
|
2 |
typedef unsigned char uint8_t; |
|
3 |
|
|
4 |
|
|
5 |
/** |
|
6 |
* Copyright (c) 2007 Colony Project |
|
7 |
* |
|
8 |
* Permission is hereby granted, free of charge, to any person |
|
9 |
* obtaining a copy of this software and associated documentation |
|
10 |
* files (the "Software"), to deal in the Software without |
|
11 |
* restriction, including without limitation the rights to use, |
|
12 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
13 |
* copies of the Software, and to permit persons to whom the |
|
14 |
* Software is furnished to do so, subject to the following |
|
15 |
* conditions: |
|
16 |
* |
|
17 |
* The above copyright notice and this permission notice shall be |
|
18 |
* included in all copies or substantial portions of the Software. |
|
19 |
* |
|
20 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
21 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
22 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
23 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
24 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
25 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
26 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
27 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
28 |
**/ |
|
29 |
|
|
30 |
|
|
31 |
/** |
|
32 |
* @file lights.h |
|
33 |
* @brief Contains declarations for managing the orbs. |
|
34 |
* |
|
35 |
* Contains declarations for using the orbs and PWM. |
|
36 |
* |
|
37 |
* @author Colony Project, CMU Robotics Club |
|
38 |
* Based on Firefly Library, by Tom Lauwers and Steven Shamlian |
|
39 |
**/ |
|
40 |
|
|
41 |
#ifndef _LIGHTS_H_ |
|
42 |
#define _LIGHTS_H_ |
|
43 |
|
|
44 |
/** |
|
45 |
* @addtogroup orbs |
|
46 |
* @{ |
|
47 |
**/ |
|
48 |
|
|
49 |
/** |
|
50 |
* Quick start: call orb_init_pwm or orb_init_binary, depending on which mode you want to use. Call orb*set or |
|
51 |
* orb*set_color to set the orbs. |
|
52 |
* |
|
53 |
* The orbs have two modes of operation: PWM mode and binary mode. In PWM mode, a pwm signal is generated by a hardware |
|
54 |
* timer and the orbs can be set to a value of 0 through 255. In binary mode, the orbs can only be turned on or off and |
|
55 |
* a value of 0 means "off" and any other value means "on". The mode can be chosen on initialization and can be changed |
|
56 |
* at runtime using the orb_set_mode function. |
|
57 |
* |
|
58 |
* Operation (PWM mode): On timer overflow, all LEDs with a value>0 are turned on and the output compare value for the |
|
59 |
* first LED is loaded. On compare match, the corresponding LED is turned off and the next output compare value is |
|
60 |
* loaded. All masks are precomputed and sorted by time when setting the values. |
|
61 |
* |
|
62 |
* The data structure (pwm_t) containing the PWM times and masks is triple buffered. This is because the buffer the ISR |
|
63 |
* is reading from may only be modified on timer overflow before the next PWM sequence is started, because otherwise the |
|
64 |
* next OCR value might be sed to a value smaller than the current timer value, resulting in the remaining channels not |
|
65 |
* being turned off in that PWM period (flash to on). When using two buffers, the page flip can only occur on a timer |
|
66 |
* overflow for the same reason. So after writing a buffer and marking it for page flip, neither of the buffers could be |
|
67 |
* modified because the front buffer is read by the ISR and the back buffer could be switched at any time. So the |
|
68 |
* calling thread would have to be delayed by up to one full PWM period (8ms in the current implementation, but |
|
69 |
* 20ms-50ms would be a reasonable value to expect here). To avoid this, triple buffering is used. |
|
70 |
* |
|
71 |
* The code for applying the orbs is fairly optimized. See the apply_orbs function for some time measurements and |
|
72 |
* further nodes. |
|
73 |
* |
|
74 |
* The PWM frequency is 120Hz (8ms period time). The next lower frequency (determined by the prescaler) is 30 Hz which |
|
75 |
* is too slow (orbs flicker). |
|
76 |
* |
|
77 |
* The orbs code is thread safe, which means that the functions may be called from another interrupt handler. If there |
|
78 |
* are multiple concurrent calls to the orb*set* functions, one of them is ignored and the orbs are never left in an |
|
79 |
* inconsistent state. For example, if the orbs are set to green by the main thread and to red by an interrupt handler, |
|
80 |
* the resulting color will be either red or green, but never yellow. |
|
81 |
* Thread safety is achieved by grabbing a lock at the beginning of all functions that modify the orb code and releasing |
|
82 |
* the lock at the end. If the lock is already taken, the function just returns doing nothing. |
|
83 |
* |
|
84 |
* Some performance measurements: |
|
85 |
* - Time for setting new orb values (PWM mode): 35us-72us (depending on the degree to which the array is |
|
86 |
* already in the correct order) |
|
87 |
* - Time for setting new orb values (binary mode): 5.5us |
|
88 |
* |
|
89 |
* - Interrupt time (PWM mode only): 8us (overflow) |
|
90 |
* 10us (output compare) |
|
91 |
* 6us (last output compare) |
|
92 |
* 30us (output compare, all value equal) |
|
93 |
* |
|
94 |
* - Maximum total interrupt time per period: 64us |
|
95 |
* - Maximum CPU usage for interrupts (PWM mode only): <0.8% |
|
96 |
* |
|
97 |
* - Maximum contiguous synchronized block: 30us (output compare interrupt, all values equal) |
|
98 |
* |
|
99 |
* There are some potential optimizations left. See the source code for more information. |
|
100 |
* |
|
101 |
* A note on robustness: if the output compare interrupt is disabled for too long, either due to a long ISR or a long |
|
102 |
* synchronized code block, the orbs will flicker to brighter values for being turned off too late. With software PWM, |
|
103 |
* there's nothing at all to be done about that. The problem can be alleviated by using a lower PWM frequency, but then |
|
104 |
* the orbs will start flickering all the time due to the low update frequency. |
|
105 |
* Some measurements: with 100us synchronized blocks, the flickering is accepptably low. Longer synchronized blocks |
|
106 |
* mean more flickering. At 1ms synchronized blocks, the flickering is quite bad, especially for low orb values. Note |
|
107 |
* that orb value 0 never flickers at all because the corresponding channels are not turned on at all. |
|
108 |
* Test code (note the _delay_us restrictions!) |
|
109 |
* orb_set (1,1,1); while (1) { SYNC { for (uint8_t m=0; m<10; ++m) { _delay_us(10); } } } |
|
110 |
**/ |
|
111 |
|
|
112 |
/** @} **/ //end addtogroup |
|
113 |
|
|
114 |
/** |
|
115 |
* @addtogroup orbs |
|
116 |
* @{ |
|
117 |
**/ |
|
118 |
|
|
119 |
// ***** Predefined colors ***** |
|
120 |
/** @brief Red **/ |
|
121 |
#define RED 0xE0 |
|
122 |
/** @brief Orange **/ |
|
123 |
#define ORANGE 0xE4 |
|
124 |
/** @brief Yellow **/ |
|
125 |
#define YELLOW 0xE8 |
|
126 |
/** @brief Lime **/ |
|
127 |
#define LIME 0x68 |
|
128 |
/** @brief Green **/ |
|
129 |
#define GREEN 0x1C |
|
130 |
/** @brief Cyan **/ |
|
131 |
#define CYAN 0x1F |
|
132 |
/** @brief Blue **/ |
|
133 |
#define BLUE 0x03 |
|
134 |
/** @brief Pink **/ |
|
135 |
#define PINK 0xA6 |
|
136 |
/** @brief Purple **/ |
|
137 |
#define PURPLE 0x41 |
|
138 |
/** @brief Magenta **/ |
|
139 |
#define MAGENTA 0xE3 |
|
140 |
/** @brief White **/ |
|
141 |
#define WHITE 0xFE |
|
142 |
/** @brief Turn the orb off **/ |
|
143 |
#define ORB_OFF 0x00 |
|
144 |
|
|
145 |
|
|
146 |
|
|
147 |
// ***** Initialization ***** |
|
148 |
|
|
149 |
/** @brief Enables the orbs in default mode **/ |
|
150 |
void orb_init(void); |
|
151 |
|
|
152 |
/** @brief Enables the orbs in binary mode **/ |
|
153 |
void orb_init_binary (void); |
|
154 |
|
|
155 |
/** @brief Enables the orbs in PWM mode **/ |
|
156 |
void orb_init_pwm (void); |
|
157 |
|
|
158 |
|
|
159 |
|
|
160 |
// ***** Mode setting ***** |
|
161 |
|
|
162 |
/** Specification of the orb mode **/ |
|
163 |
typedef uint8_t orb_mode_t; |
|
164 |
|
|
165 |
/** @brief PWM mode **/ |
|
166 |
#define orb_mode_pwm 0 |
|
167 |
|
|
168 |
/** @brief Binary mode **/ |
|
169 |
#define orb_mode_binary 1 |
|
170 |
|
|
171 |
|
|
172 |
/** @brief Switches the orbs to the specified mode **/ |
|
173 |
void orb_set_mode (orb_mode_t mode); |
|
174 |
|
|
175 |
/** @brief Disables the orb timer, but does not change the mode **/ |
|
176 |
void orb_disable_timer (void); |
|
177 |
|
|
178 |
/** @brief Enables the orb timer, but does not change the mode **/ |
|
179 |
void orb_enable_timer (void); |
|
180 |
|
|
181 |
|
|
182 |
|
|
183 |
// ***** Setting RGB colors ***** |
|
184 |
|
|
185 |
/** @brief set the specified orb to a specified color |
|
186 |
* @deprecated This function indexes from 0 instead of 1 **/ |
|
187 |
void orb_n_set (uint8_t num, uint8_t red, uint8_t green, uint8_t blue); |
|
188 |
|
|
189 |
/** @brief Set both orbs to a specified color **/ |
|
190 |
void orb_set(uint8_t red, uint8_t green, uint8_t blue); |
|
191 |
|
|
192 |
/** @brief Set orb1 to a specified color **/ |
|
193 |
void orb1_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led); |
|
194 |
|
|
195 |
/** @brief Set orb2 to a specified color **/ |
|
196 |
void orb2_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led); |
|
197 |
|
|
198 |
void orbs_set (uint8_t red1, uint8_t green1, uint8_t blue1, uint8_t red2, uint8_t green2, uint8_t blue2); |
|
199 |
|
|
200 |
|
|
201 |
|
|
202 |
// ***** Settings predefined colors ***** |
|
203 |
|
|
204 |
/** @brief set the specified orb to the specified color |
|
205 |
* @deprecated This function indexes from 0 instead of 1 **/ |
|
206 |
void orb_n_set_color(uint8_t num, uint8_t col); |
|
207 |
|
|
208 |
/** @brief Set orb1 to a specified color **/ |
|
209 |
void orb1_set_color(uint8_t col); |
|
210 |
|
|
211 |
/** @brief Set orb2 to a specified color **/ |
|
212 |
void orb2_set_color(uint8_t col); |
|
213 |
|
|
214 |
/** @brief set the orbs to specified colors **/ |
|
215 |
void orbs_set_color(uint8_t col1, uint8_t col2); |
|
216 |
|
|
217 |
/** @brief Set both orbs to a specified color **/ |
|
218 |
void orb_set_color(uint8_t col); |
|
219 |
|
|
220 |
|
|
221 |
|
|
222 |
/** @} **/ //end addtogroup |
|
223 |
|
|
224 |
#endif |
include/libdragonfly/spi.h | ||
---|---|---|
1 |
/** |
|
2 |
* @file spi.h |
|
3 |
* @brief Definitions for SPI |
|
4 |
* @author Colony Project, CMU Robotics Club |
|
5 |
**/ |
|
6 |
|
|
7 |
/** |
|
8 |
* @addtogroup spi |
|
9 |
* @{ |
|
10 |
**/ |
|
11 |
|
|
12 |
#ifndef __SPI_H__ |
|
13 |
#define __SPI_H__ |
|
14 |
|
|
15 |
#define DOUBLE_SCK 1 |
|
16 |
#define SPR0_BIT 1 |
|
17 |
|
|
18 |
#define MASTER 1 |
|
19 |
#define SLAVE 0 |
|
20 |
|
|
21 |
#define MOSI _BV(PB2) |
|
22 |
#define MISO _BV(PB3) |
|
23 |
#define SS _BV(PB0) |
|
24 |
#define SCLK _BV(PB1) |
|
25 |
|
|
26 |
typedef void (*spi_fun_recv_t)(char); |
|
27 |
typedef void (*spi_fun_recv_complete_t)(void); |
|
28 |
|
|
29 |
/** |
|
30 |
* @brief Initialize SPI |
|
31 |
* |
|
32 |
* @param spi_fun_recv_t The function that handles SPI data, byte for byte. |
|
33 |
* @param spi_fun_recv_complete_t Called on a completed transmission - typically for cleaning up. |
|
34 |
*/ |
|
35 |
void spi_init (spi_fun_recv_t, spi_fun_recv_complete_t); |
|
36 |
|
|
37 |
/** |
|
38 |
* @brief Initialize SPI transfer. |
|
39 |
* |
|
40 |
* @param char The number of bytes to transfer. |
|
41 |
*/ |
|
42 |
void spi_transfer (char); |
|
43 |
|
|
44 |
/**@}**/ //end group |
|
45 |
|
|
46 |
#endif |
include/libdragonfly/time.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file time.h |
|
29 |
* @brief Contains time-related functions and definitions |
|
30 |
* |
|
31 |
* Contains functions and definitions for dealing with time, |
|
32 |
* namely delay_ms and the realtime clock. |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
**/ |
|
36 |
|
|
37 |
#ifndef _TIME_H_ |
|
38 |
#define _TIME_H_ |
|
39 |
|
|
40 |
/* Predefined times for prescale_opt in time.c. |
|
41 |
To make you own, know that a pulse is 1/16th of a second. You cannot get less than this. To get more, you need |
|
42 |
to know how many 16ths of a second are in the time you want. (Time_desired * 16 = prescaler_opt) |
|
43 |
*/ |
|
44 |
/** |
|
45 |
* @addtogroup time |
|
46 |
* @{ |
|
47 |
**/ |
|
48 |
/** @brief A sixteenth of a second **/ |
|
49 |
#define SIXTEENTH_SECOND 1 |
|
50 |
/** @brief An eighth of a second **/ |
|
51 |
#define EIGTH_SECOND 2 |
|
52 |
/** @brief A quarter of a second **/ |
|
53 |
#define QUARTER_SECOND 4 |
|
54 |
/** @brief Half of a second **/ |
|
55 |
#define HALF_SECOND 8 |
|
56 |
/** @brief One second **/ |
|
57 |
#define SECOND 16 |
|
58 |
/** @brief Two seconds **/ |
|
59 |
#define TWO_SECOND 32 |
|
60 |
/** @brief Four seconds **/ |
|
61 |
#define FOUR_SECOND 64 |
|
62 |
|
|
63 |
/** @brief Delay execution for the specified time **/ |
|
64 |
void delay_ms(int ms) ; |
|
65 |
/** @brief Enable the realtime clock **/ |
|
66 |
void rtc_init(int prescale_opt, void (*rtc_func)(void)); |
|
67 |
/** @brief Reset the counter of the realtime clock **/ |
|
68 |
void rtc_reset(void); |
|
69 |
/** @brief Get the value of the realtime clock. **/ |
|
70 |
int rtc_get(void); |
|
71 |
|
|
72 |
/** @} **/ |
|
73 |
|
|
74 |
#endif |
|
75 |
|
include/libdragonfly/motor.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file motor.h |
|
29 |
* @brief Contains definitions for controlling the motors |
|
30 |
* |
|
31 |
* Contains definitions and functions for controlling |
|
32 |
* the motors. |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
* Based on Tom Lauwer's Firefly Library |
|
36 |
**/ |
|
37 |
|
|
38 |
#ifndef _MOTOR_H |
|
39 |
#define _MOTOR_H |
|
40 |
|
|
41 |
#include <avr/io.h> |
|
42 |
/** |
|
43 |
* @addtogroup motors |
|
44 |
* @{ |
|
45 |
**/ |
|
46 |
|
|
47 |
/** @brief make the motors go forwards **/ |
|
48 |
#define FORWARD 1 |
|
49 |
/** @brief make the motors go backwards **/ |
|
50 |
#define BACKWARD 0 |
|
51 |
|
|
52 |
/** @brief Initialize the motors **/ |
|
53 |
void motors_init(void); |
|
54 |
/** @brief Set speed and direction of motor1 |
|
55 |
* @deprecated use the left motor function instead. it's more intuitive and easier to read.**/ |
|
56 |
void motor1_set(int direction, int speed); |
|
57 |
/** @brief Set speed and direction of motor2 |
|
58 |
* @deprecated use the right motor function instead. it's more intuitive and easier to read.**/ |
|
59 |
void motor2_set(int direction, int speed); |
|
60 |
/** @brief Set speed and direction of left motor **/ |
|
61 |
void motor_l_set(int direction, int speed); |
|
62 |
/** @brief Set speed and direction of right motor **/ |
|
63 |
void motor_r_set(int direction, int speed); |
|
64 |
/** @brief Turn the motors off **/ |
|
65 |
void motors_off(void); |
|
66 |
|
|
67 |
/**@}**/ // end addtogroup |
|
68 |
|
|
69 |
#endif |
|
70 |
|
include/libdragonfly/analog.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* |
|
28 |
* @file analog.h |
|
29 |
* @brief Contains functions and definitions for using the ADC |
|
30 |
* |
|
31 |
* Contains definitions and function prototypes for using the |
|
32 |
* ADC to detect analog signals on pins AN0 - AN7. |
|
33 |
* AN6 and AN7 are used for the wheel and battery. |
|
34 |
|
|
35 |
* The pins labeled E6 and E7 are external interrupt pins and are not related |
|
36 |
* to analog. |
|
37 |
|
|
38 |
* @author Colony Project, CMU Robotics Club, based on firefly |
|
39 |
* originally taken from fwr analog file (author: Tom Lauwers) |
|
40 |
* loop code written by Kevin Woo and James Kong |
|
41 |
*/ |
|
42 |
|
|
43 |
#ifndef _ANALOG_H |
|
44 |
#define _ANALOG_H |
|
45 |
|
|
46 |
#include <inttypes.h> |
|
47 |
|
|
48 |
/** |
|
49 |
* @addtogroup analog |
|
50 |
* @{ |
|
51 |
**/ |
|
52 |
|
|
53 |
/** @brief Analog port 0 **/ |
|
54 |
#define AN0 0x00 |
|
55 |
/** @brief Analog port 1 **/ |
|
56 |
#define AN1 0x01 |
|
57 |
/** @brief Analog port 2 **/ |
|
58 |
#define AN2 0x02 |
|
59 |
/** @brief Analog port 3 **/ |
|
60 |
#define AN3 0x03 |
|
61 |
/** @brief Analog port 4 **/ |
|
62 |
#define AN4 0x04 |
|
63 |
/** @brief Analog port 5 **/ |
|
64 |
#define AN5 0x05 |
|
65 |
/** @brief Analog port 6 **/ |
|
66 |
#define AN6 0x06 |
|
67 |
/** @brief Analog port 7 **/ |
|
68 |
#define AN7 0x07 |
|
69 |
/** @brief Analog port 8 **/ |
|
70 |
#define AN8 0x08 |
|
71 |
/** @brief Analog port 9 **/ |
|
72 |
#define AN9 0x09 |
|
73 |
/** @brief Analog port 10 **/ |
|
74 |
#define AN10 0x0A |
|
75 |
/** @brief Analog port 11 **/ |
|
76 |
#define AN11 0x0B |
|
77 |
/** @brief Analog port 12 **/ |
|
78 |
#define AN12 0x0C |
|
79 |
/** @brief Analog port 13 **/ |
|
80 |
#define AN13 0x0D |
|
81 |
/** @brief Analog port 14 **/ |
|
82 |
#define AN14 0x0E |
|
83 |
/** @brief Analog port 15 **/ |
|
84 |
#define AN15 0x0F |
|
85 |
|
|
86 |
/** @brief BOM_PORT analog port for BOM **/ |
|
87 |
#define BOM_PORT AN0 |
|
88 |
/** @brief EXT_MUX analog port **/ |
|
89 |
#define EXT_MUX AN7 |
|
90 |
/** @brief Analog port for the wheel **/ |
|
91 |
#define WHEEL_PORT AN10 |
|
92 |
/** @brief Analog port for the battery voltage detector **/ |
|
93 |
#define BATT_PORT AN11 |
|
94 |
|
|
95 |
/** @brief Analog loop status. ADC conversion running. **/ |
|
96 |
#define ADC_LOOP_RUNNING 1 |
|
97 |
/** @brief Analog loop status. No ADC conversion running.**/ |
|
98 |
#define ADC_LOOP_STOPPED 0 |
|
99 |
|
|
100 |
/** @brief Analog init parameter. Start the analog loop. **/ |
|
101 |
#define ADC_START 1 |
|
102 |
/** @brief Analog init parameter. Don't start the analog loop. **/ |
|
103 |
#define ADC_STOP 0 |
|
104 |
|
|
105 |
#define ADMUX_OPT 0x60 |
|
106 |
|
|
107 |
/** @brief Struct to hold the value of a particular analog port **/ |
|
108 |
typedef struct { |
|
109 |
uint8_t adc8; |
|
110 |
uint16_t adc10; |
|
111 |
} adc_t; |
|
112 |
|
|
113 |
|
|
114 |
/** @brief Initialize analog ports. Will start running a loop |
|
115 |
if start_conversion is ADC_START.**/ |
|
116 |
void analog_init(int start_conversion); |
|
117 |
/** @brief starts the analog loop. Doesn't do anything if the loop is already running. **/ |
|
118 |
void analog_start_loop(void); |
|
119 |
/** @brief Stops the analog loop. Doesn't do anything if the loop is already stopped. **/ |
|
120 |
void analog_stop_loop(void); |
|
121 |
/** @brief Returns the status of the analog loop. **/ |
|
122 |
int analog_loop_status(void); |
|
123 |
/** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog_get8. **/ |
|
124 |
unsigned int analog8(int which); |
|
125 |
/** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog_get10. **/ |
|
126 |
unsigned int analog10(int which); |
|
127 |
/** @brief Read the position of the wheel. **/ |
|
128 |
int wheel(void); |
|
129 |
/** @brief Read an 8-bit number from an analog port. Loop must be stopped for this to work. **/ |
|
130 |
unsigned int analog_get8(int which); |
|
131 |
/** @brief Read a 10-bit number from an analog port. Loop must be stopped for this to work. **/ |
|
132 |
unsigned int analog_get10(int which); |
|
133 |
|
|
134 |
|
|
135 |
/**@}**/ //end group |
|
136 |
|
|
137 |
#endif |
|
138 |
|
include/libdragonfly/lcd.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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|
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|
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/** |
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* @file lcd.h |
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* @brief Contains definitions for dealing with the LCD screen. |
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* |
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* Contains definitions and functions for dealing with the |
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* LCD screen. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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|
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#ifndef _LCD_H_ |
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#define _LCD_H_ |
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/** |
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* @addtogroup lcd |
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* @{ |
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**/ |
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|
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/** @brief Initialize the LCD screen **/ |
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void lcd_init(void); |
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/** @brief Clear the LCD screen **/ |
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void lcd_clear_screen( void ); |
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/** @brief Print a char to the LCD screen **/ |
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void lcd_putc(char c); |
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/** @brief Print a string to the LCD screen **/ |
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void lcd_puts(char *s); |
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/** @brief Print an int to the LCD screen **/ |
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void lcd_puti(int value); |
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/** @brief Set the current cursor position **/ |
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void lcd_gotoxy(int x, int y); |
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/** @} **/ |
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#endif |
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|
include/libdragonfly/odometry.h | ||
---|---|---|
1 |
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/** |
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* @file odometry.h |
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* @brief Code for estimating the robots pose. |
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* |
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* Offers simple position and orientation information. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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|
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#ifndef __ODOMETRY_C__ |
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#define __ODOMETRY_C__ |
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|
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/** |
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* @addtogroup odometry |
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* @{ |
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**/ |
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|
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//Odometry resolution, *64 microseconds. |
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#define ODOMETRY_CLK 255u |
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#define TIME_SCALE 64 |
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|
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//Wheel = 2.613 in. |
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//Circumference = 208.508133 mm |
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//Distance per encoder click (circumference / 1024) = 203.621224 um. |
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//Robot width = 5.3745 in. = 136.5123 mm |
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|
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#define ROBOT_WIDTH_UM 137000 //um |
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#define CLICK_DISTANCE_UM 204 //um |
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|
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#define DISTANCE_SCALE 2.10526316 //Magic constant. |
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#define ANGLE_SCALE 1.12823207 //Magic constant. |
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|
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/** @brief Retrieve the robots estimated x position*/ |
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long odometry_dx(void); |
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|
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/** @brief Retrieve the robots estimated y position*/ |
|
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long odometry_dy(void); |
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|
|
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/** @brief Retrieve the robots estimated orientation*/ |
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