/ - Diff - Colony - Robotics Club

trunk/code/projects/forklift_demo/Forklift.cpp
25	25	char volatile response;
26	26	char volatile received;
27	27
28		int mrecv(char data)
	28	static int mrecv(char data)
29	29	{
30	30	response = data;
31	31	received = 1;
	32	return 0;
32	33	}
33	34
34		void srecv(char) {}
35		char ssend() {}
	35	static void srecv(char) {}
	36	static char ssend() {return 0;}
36	37
37		int read_addr(char addr)
	38	static int read_addr(char addr)
38	39	{
39	40	if (i2c_send(FORKLIFT_ADDR, &addr, 1))
40	41	return FORKLIFT_ERROR;
...	...
50	51	return FORKLIFT_ERROR;
51	52	}
52	53
53		int write_addr(char addr, char data)
	54	static int write_addr(char addr, char data)
54	55	{
55	56	char buf[2];
56	57	buf[0] = addr;
...	...
61	62	return 0;
62	63	}
63	64
64		void forklift_init()
	65	void Forklift::forklift_init()
65	66	{
66	67	i2c_init(SCOUT_AVR_ADDR, mrecv, srecv, ssend);
67	68	}
68	69
69		int get_tracking_id()
	70	int Forklift::get_tracking_id()
70	71	{
71	72	return read_addr(FORKLIFT_TRACKING_ID);
72	73	}
73	74
74		int get_serial_number()
	75	int Forklift::get_serial_number()
75	76	{
76	77	return read_addr(FORKLIFT_SERIAL_NUMBER);
77	78	}
78	79
79		int get_height()
	80	int Forklift::get_height()
80	81	{
81	82	return read_addr(FORKLIFT_HEIGHT);
82	83	}
83	84
84		int get_height_setpoint()
	85	int Forklift::get_height_setpoint()
85	86	{
86	87	return read_addr(FORKLIFT_HEIGHT_SETPOINT);
87	88	}
88	89
89		int set_height_setpoint(char setpoint)
	90	int Forklift::set_height_setpoint(char setpoint)
90	91	{
91	92	return write_addr(FORKLIFT_HEIGHT_SETPOINT, setpoint);
92	93	}

       int get_serial_number(); // unique to each forklift
       int get_height();
       int get_height_setpoint();
       int set_height_setpoint(int setpoint);
       int set_height_setpoint(char setpoint);
     };
     #endif

     #     gnu89 = c89 plus GCC extensions
     #     c99   = ISO C99 standard (not yet fully implemented)
     #     gnu99 = c99 plus GCC extensions
     CSTANDARD = -std=gnu99
     CSTANDARD = -std=c++0x
     # Place -D or -U options here
     CDEFS += -DF_CPU=$(F_CPU)UL
-...
     CFLAGS += $(CDEFS) $(CINCS)
     CFLAGS += -O$(OPT)
     CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
     CFLAGS += -Wall -Wstrict-prototypes
     CFLAGS += -Wall
     CFLAGS += -Wa,-adhlns=$(<:.cpp=.lst)
     CFLAGS += $(CSTANDARD)

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