Revision 1592

View differences:

trunk/code/behaviors/formation_control/circle2/Makefile
11 11
USE_WIRELESS = 1
12 12

  
13 13
# com1 = serial port. Use lpt1 to connect to parallel port.
14
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM7:'; else echo '/dev/ttyUSB0'; fi)
14
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM10:'; else echo '/dev/ttyUSB0'; fi)
15 15
else
16 16
COLONYROOT := ../$(COLONYROOT)
17 17
endif
trunk/code/behaviors/formation_control/circle2/circle.c
84 84
	}
85 85
}
86 86

  
87
void turn_to_beacon2(int max){				// like the previous but no stop() call
87
void turn_to_beacon2(int max){				// like the previous but no stop() call'
88

  
89

  
90

  
91

  
88 92
	if (max>-1 && max<16){
89 93
		int index = (max+12)%16;
90 94
		if (index==0) { 
......
165 169
	wl_set_channel(24);
166 170

  
167 171
	int robotid = get_robotid();
172
	int used[16];
168 173
	char send_buffer[2];
169 174
	int data_length;
170 175
	unsigned char *packet_data=wl_basic_do_default(&data_length);
......
198 203
					if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_EXIST)
199 204
					{
200 205
						send_buffer[0]=CIRCLE_ACTION_ACK;
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						send_buffer[1]=get_robotid();
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						send_buffer[1]=robotid;
202 207
						
203 208
						wl_basic_send_global_packet(42,send_buffer,2);
204 209
						break;
......
262 267
				if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK)
263 268
				{
264 269
					orb_set_color(WHITE);
265
					robotsRecieved++;
270
					if(used[packet_data[1]]==0){//only add to robots seen if you haven't gotten an ACK from this robot
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						robotsRecieved++;
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						used[packet_data[1]]=1;
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					}
266 274
				}
267 275
				if(robotsRecieved==NUM_ROBOTS)
268 276
					beacon_State=3;

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