Revision 979
minor changes to remote control / mapping code...wireless control works with libwireless reverted to rev. 887. code in odometry interrupt conflicts with motors, not allowing the robot to move motors in response to commands.
| test.c | ||
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| 4 | 4 |
#include "../../libwireless/lib/wireless.h" |
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#include <unistd.h> |
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#define CHAN 0xE |
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#define MAP 1 // packet group for receiving points |
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#define POINT_RAW 1 // packet type for map data points w/ raw encoder data |
| 9 | 11 |
#define POINT_ODO 2 // packet type for map data points w/ odometry data |
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#define WL_CNTL_GROUP 4 |
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#define CNTL_FORWARD 0 |
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#define CNTL_BACK 1 |
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#define CNTL_LEFT 2 |
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#define CNTL_RIGHT 3 |
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#define CNTL_LEFT_CURVE 4 |
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#define CNTL_RIGHT_CURVE 5 |
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#define CNTL_STOP 6 |
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#define CNTL_VEL_UP 7 |
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#define CNTL_VEL_DOWN 8 |
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#define CNTL_FORWARD 0
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#define CNTL_BACK 1
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#define CNTL_LEFT 2
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#define CNTL_RIGHT 3
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#define CNTL_LEFT_CURVE 4
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#define CNTL_RIGHT_CURVE 5
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#define CNTL_STOP 6
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#define CNTL_VEL_UP 7
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#define CNTL_VEL_DOWN 8
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void send_packet (char color, int dst_robot);
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void send_packet (char type, int dst_robot);
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void packet_receive(char type, int source, unsigned char* packet, int length); |
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PacketGroupHandler cntlHandler = {WL_CNTL_GROUP, NULL, NULL, NULL, NULL};
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| ... | ... | |
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int robot = atoi(argv[1]); |
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printf("Beginning: robot=%d\r\n", robot);
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wl_init();
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wl_init();
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wl_set_com_port("/dev/ttyUSB1");
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wl_set_channel(0xE);
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wl_set_channel(CHAN);
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printf("Wireless initialized.\r\n");
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wl_register_packet_group(&cntlHandler); |
| 47 | 49 |
wl_register_packet_group(&receiveHandler); |
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