root / trunk / code / behaviors / formation_control / circle_spacing / circle_spacing.c @ 1571
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1 | 1558 | gnagaraj | #include <dragonfly_lib.h> |
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2 | #include <wl_basic.h> |
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3 | #include<encoders.h> |
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4 | |||
5 | 1564 | gnagaraj | |
6 | int master = 0; |
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7 | int sending = 0; |
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8 | int stop = 0; |
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9 | |||
10 | |||
11 | void switch_sending ()
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12 | { |
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13 | if(sending)
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14 | { |
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15 | sending = 0;
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16 | bom_off(); |
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17 | } |
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18 | else
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19 | { |
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20 | sending = 1;
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21 | bom_on(); |
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22 | } |
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23 | } |
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24 | |||
25 | |||
26 | |||
27 | 1558 | gnagaraj | int main(void) |
28 | { |
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29 | |||
30 | |||
31 | 1564 | gnagaraj | |
32 | int sending_counter = 0; |
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33 | 1558 | gnagaraj | |
34 | /* Initialize dragonfly board */
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35 | |||
36 | dragonfly_init(ALL_ON); |
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37 | xbee_init(); |
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38 | wl_basic_init_default(); |
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39 | wl_set_channel(12);
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40 | int data_length;
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41 | 1564 | gnagaraj | unsigned char *packet_data; |
42 | 1571 | gnagaraj | char send_buffer[2]; |
43 | 1564 | gnagaraj | |
44 | |||
45 | if(master) orb1_set_color(RED);
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46 | else orb1_set_color(BLUE);
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47 | |||
48 | while(1) |
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49 | { |
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50 | |||
51 | |||
52 | |||
53 | |||
54 | 1558 | gnagaraj | bom_refresh(BOM_ALL); |
55 | |||
56 | |||
57 | 1564 | gnagaraj | |
58 | if(master)
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59 | { |
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60 | |||
61 | 1571 | gnagaraj | if(sending_counter++>2) |
62 | 1564 | gnagaraj | { |
63 | switch_sending(); |
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64 | sending_counter = 0;
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65 | 1571 | gnagaraj | send_buffer[0] = 'a'; |
66 | 1564 | gnagaraj | wl_basic_send_global_packet(42, send_buffer, 1); |
67 | } |
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68 | |||
69 | |||
70 | if(sending)
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71 | { |
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72 | |||
73 | |||
74 | |||
75 | |||
76 | |||
77 | } |
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78 | |||
79 | else // recieving |
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80 | { |
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81 | if(bom_get_max()+1==5) |
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82 | { |
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83 | 1571 | gnagaraj | send_buffer[0] = 's'; |
84 | wl_basic_send_global_packet(42, send_buffer, 2); |
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85 | 1564 | gnagaraj | } |
86 | } |
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87 | } |
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88 | |||
89 | |||
90 | |||
91 | else // slave |
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92 | { |
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93 | if(packet_data[0]=='s') stop=1; |
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94 | if(packet_data[0]=='a') switch_sending(); |
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95 | |||
96 | if(sending)
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97 | { |
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98 | 1571 | gnagaraj | /*
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99 | 1564 | gnagaraj | motor_l_set(FORWARD,0);
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100 | motor_r_set(FORWARD,0);
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101 | 1571 | gnagaraj | */
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102 | 1564 | gnagaraj | } |
103 | |||
104 | else // recieving |
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105 | { |
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106 | |||
107 | if(stop)
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108 | { |
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109 | 1571 | gnagaraj | motor_l_set(FORWARD,0);
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110 | motor_r_set(FORWARD,0);
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111 | orb1_set_color(GREEN); |
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112 | 1564 | gnagaraj | } |
113 | |||
114 | else
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115 | { |
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116 | |||
117 | |||
118 | if(bom_get_max()+1==8){ |
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119 | 1571 | gnagaraj | orb2_set_color(BLUE); |
120 | 1564 | gnagaraj | motor_r_set(FORWARD,180);
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121 | motor_l_set(FORWARD,180);
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122 | |||
123 | } |
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124 | else {
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125 | 1571 | gnagaraj | orb2_set_color(GREEN); |
126 | 1564 | gnagaraj | motor_l_set(FORWARD,0);
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127 | motor_r_set(FORWARD,180);
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128 | } |
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129 | } |
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130 | |||
131 | |||
132 | } |
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133 | |||
134 | |||
135 | } |
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136 | |||
137 | packet_data = wl_basic_do_default(&data_length); |
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138 | delay_ms(10);
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139 | } |
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140 | 1558 | gnagaraj | |
141 | |||
142 | return 0; |
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143 | |||
144 | |||
145 | |||
146 | |||
147 | } |
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148 |