Revision 1592
Included working functionality for Beacon to get acks from each robot.
| circle.c | ||
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| 84 | 84 |
} |
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} |
| 86 | 86 |
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| 87 |
void turn_to_beacon2(int max){ // like the previous but no stop() call
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void turn_to_beacon2(int max){ // like the previous but no stop() call'
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| 88 | 92 |
if (max>-1 && max<16){
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| 89 | 93 |
int index = (max+12)%16; |
| 90 | 94 |
if (index==0) {
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| ... | ... | |
| 165 | 169 |
wl_set_channel(24); |
| 166 | 170 |
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| 167 | 171 |
int robotid = get_robotid(); |
| 172 |
int used[16]; |
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| 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 |
{
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| 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;
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| 202 | 207 |
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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 |
{
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| 264 | 269 |
orb_set_color(WHITE); |
| 265 |
robotsRecieved++; |
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| 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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} |
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| 266 | 274 |
} |
| 267 | 275 |
if(robotsRecieved==NUM_ROBOTS) |
| 268 | 276 |
beacon_State=3; |
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