Revision 681 trunk/code/projects/colonet/robot/colonet_dragonfly/colonet_dragonfly.c

View differences:

colonet_dragonfly.c
117 117
  *y = robot_y;
118 118
}
119 119

  
120
static void report_arrived() {
121
  //usb_puts("requesting_abs_position\n");
122
  ColonetRobotServerPacket pkt;
123
  pkt.client_id = -1; //global
124
  pkt.msg_code = ROBOT_REPORT_ARRIVED_AT_POSITION;
125
  wl_send_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(ColonetRobotServerPacket), 0);
126
}
127

  
120 128
void request_abs_position() {
121 129
  //usb_puts("requesting_abs_position\n");
122 130
  ColonetRobotServerPacket pkt;
123
  pkt.client_id = -1;
131
  pkt.client_id = -1; //global
124 132
  pkt.msg_code = ROBOT_REQUEST_POSITION_FROM_SERVER;
125 133
  wl_send_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(ColonetRobotServerPacket), 0);
126 134
}
......
238 246
              // Reached destination.
239 247
              motors_off();
240 248
              robot_state = NO_COMMAND;
249

  
250
              // Notify server that robot arrived.
251
              report_arrived();
241 252
            } else {
242 253
              // e is the error vector (where we want to go)
243 254
              //char buf[80];

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