Colony

Revision 1988

This is a working version of the code for the demo. It works on Bot 7, and partially on Bot 14. Due to the number of changes here, I'll list them by file:

traffic_navigation.h
I added a #define for sendGraph, so its main won't be compiled unless defined. Uncomment the #define line at the top of this file to turn its main on. Make sure you also comment out the #define for main-new. Also, has the new #define for the node wireless packet type.

readSerial.sh
I changed the output to print to stdout, instead of a file.

sendGraph.c
sendGraph.h
I modified the struct that stores and sends node data so it has a wireless packet type (80), and is 1 byte larger to hold it.

validTurns.c
One of the intersections on the map was placed incorrectly, and the robot drives off the line if it gets there. I added 2 if statements to control how the robot turns if it is at that intersection. The intersection has barcode numbers 13 and 16.

Makefile
I changed the target to main-new because that was what I was testing. If you're testing something else, make sure you change this line.

main-new.c
I changed the speed at which the robot drives at. I lowered it from 200 to 180, although this value depends on which bot it was used on. I also changed all of Alex's #ifdef debugging code into #define that takes up less space and makes the code look cleaner.

#include <wl_basic.h>

#include "sendGraph.h"

#ifdef SENDGRAPH

int main(void){

    dragonfly_init(ALL_ON);

	intersections[0] = a;

	intersections[1] = b;

  while(1){

	sendIntersectionGraph();

  orb1_set_color(BLUE);

  delay_ms(500);

	sendIntersectionGraph();

  orb1_set_color(YELLOW);

  delay_ms(500);

  }

  return 0;

}

void sendIntersectionGraph() {

        int i;

        node_union graph;

        graph.n.packetType = WGRAPHDATA;

        for(i=0; i< NUM_FEATURES; i++){

                graph.n = intersections[i];

                wl_basic_send_global_packet(42, graph.array, 12);

                wl_basic_send_global_packet(42, "\n", 1);

                wl_basic_send_global_packet(42, graph.array, 13);

//                wl_basic_send_global_packet(42, "\r\n", 3);

        }

}

#endif

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