Revision 1580 trunk/code/behaviors/formation_control/circle_spacing/circle_spacing.c

View differences:

circle_spacing.c
6 6
int master = 0;
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int sending = 0;
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int stop = 0;
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struct vector slave_position;
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void switch_sending ()
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{
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	if(sending)
......
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			else // recieving
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			{
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				if(bom_get_max()+1==5)
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				{
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				bom_get_vector(&slave_position, NULL);
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				if(slave_position.y/slave_position.x > 10){
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				//if(bom_get_max()+1==5){
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				send_buffer[0] = 's';
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				wl_basic_send_global_packet(42, send_buffer, 2);
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				}
......
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				else
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				{
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					//bom_get_vector(&slave_position, NULL);
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					//if(abs(slave_position.x)>2 && (double)slave_position.y/(double)slave_position.x < 0.1){
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				   if(bom_get_max()+1==8){	
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					orb2_set_color(BLUE);
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					motor_r_set(FORWARD,180);

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