Revision 681
added possibility of global client write
| 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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