Revision 1571 trunk/code/behaviors/formation_control/circle_spacing/circle_spacing.c

View differences:

circle_spacing.c
39 39
	wl_set_channel(12);
40 40
    int data_length;
41 41
	unsigned char *packet_data;
42
	char send_buffer;
42
	char send_buffer[2];
43 43
	
44 44
	
45 45
	if(master) orb1_set_color(RED);
......
58 58
		if(master)
59 59
		{
60 60
		
61
			if(sending_counter++>100)
61
			if(sending_counter++>2)
62 62
			{
63 63
				switch_sending();
64 64
				sending_counter = 0;
65
				send_buffer = 'a';
65
				send_buffer[0] = 'a';
66 66
				wl_basic_send_global_packet(42, send_buffer, 1);
67 67
			}
68 68
		
......
80 80
			{
81 81
				if(bom_get_max()+1==5)
82 82
				{
83
				send_buffer = 's';
84
				wl_basic_send_global_packet(42, send_buffer, 1);
83
				send_buffer[0] = 's';
84
				wl_basic_send_global_packet(42, send_buffer, 2);
85 85
				}
86 86
			}
87 87
		}
......
95 95
		
96 96
			if(sending)
97 97
			{
98
			/*
98 99
				motor_l_set(FORWARD,0);
99 100
				motor_r_set(FORWARD,0);
101
			*/
100 102
			}
101 103
			
102 104
			else // recieving
......
104 106
			
105 107
				if(stop)
106 108
				{
109
				motor_l_set(FORWARD,0);
110
				motor_r_set(FORWARD,0);
111
				orb1_set_color(GREEN);
107 112
				}
108 113
				
109 114
				else
......
111 116

  
112 117
					
113 118
				   if(bom_get_max()+1==8){	
114
					orb1_set_color(RED);
119
					orb2_set_color(BLUE);
115 120
					motor_r_set(FORWARD,180);
116 121
					motor_l_set(FORWARD,180);
117 122
					
118 123
				   }
119 124
				   else {
125
				   orb2_set_color(GREEN);
120 126
					motor_l_set(FORWARD,0);
121 127
					motor_r_set(FORWARD,180);
122 128
					}

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