scoutos / scout_avr / src / main.cpp @ 0970d303
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1 | 6e7f0a98 | Tom Mullins | #if 1 /////////////////////////////////////////////// |
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2 | 807483bf | Tom Mullins | |
3 | 49090532 | Tom Mullins | #include "ros.h" |
4 | 6e7f0a98 | Tom Mullins | #include "bom.h" |
5 | 47e26dee | Tom Mullins | #include "range.h" |
6 | 6c9146d5 | Tom Mullins | #include "stepper.h" |
7 | 066b08bb | Tom Mullins | #include "orb.h" |
8 | 8741d18c | Tom Mullins | #include "cliffSensor.h" |
9 | 0970d303 | Tom Mullins | #include <messages/bom.h> |
10 | #include <messages/sonar_distance.h> |
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11 | #include <messages/sonar_toggle.h> |
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12 | #include <messages/sonar_set_scan.h> |
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13 | #include <messages/set_headlights.h> |
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14 | #include <messages/cliff_status_changed.h> |
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15 | 47e26dee | Tom Mullins | #include <util/delay.h> |
16 | 88fb3a79 | Tom Mullins | |
17 | 6c9146d5 | Tom Mullins | /* Period of main loop in ms */
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18 | 2853d46b | Tom Mullins | #define MAINLOOP_PERIOD 100//50 |
19 | 6c9146d5 | Tom Mullins | |
20 | char range_enabled = 0; |
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21 | 49090532 | Tom Mullins | |
22 | 812788aa | Tom Mullins | void debug(const char *str) |
23 | { |
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24 | 31f4a032 | Tom Mullins | } |
25 | |||
26 | 0970d303 | Tom Mullins | void orb_callback(const messages::set_headlights& msg) |
27 | 49090532 | Tom Mullins | { |
28 | 066b08bb | Tom Mullins | orb_set0(msg.left_red, msg.left_green, msg.left_blue); |
29 | orb_set1(msg.right_red, msg.right_green, msg.right_blue); |
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30 | 49090532 | Tom Mullins | } |
31 | |||
32 | 6c9146d5 | Tom Mullins | /* dammit, Priya, this capitalization just looks ridiculous */
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33 | 0970d303 | Tom Mullins | void range_toggle_cb(const messages::sonar_toggleRequest& req, |
34 | messages::sonar_toggleResponse& resp) |
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35 | 6c9146d5 | Tom Mullins | { |
36 | range_enabled = req.set_on; |
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37 | 64aea12e | Tom Mullins | if (range_enabled)
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38 | step_enable(); |
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39 | else
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40 | step_disable(); |
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41 | 6c9146d5 | Tom Mullins | resp.ack = true;
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42 | } |
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43 | |||
44 | 0970d303 | Tom Mullins | void range_set_scan_cb(const messages::sonar_set_scanRequest& req, |
45 | messages::sonar_set_scanResponse& resp) |
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46 | 6c9146d5 | Tom Mullins | { |
47 | step_sweep_bounds(req.stop_l, req.stop_r); |
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48 | resp.ack = true;
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49 | } |
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50 | |||
51 | 49090532 | Tom Mullins | int main()
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52 | 88fb3a79 | Tom Mullins | { |
53 | 6c9146d5 | Tom Mullins | unsigned long now, next; |
54 | unsigned int ranges[2]; |
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55 | 6e7f0a98 | Tom Mullins | char i, id;
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56 | 0970d303 | Tom Mullins | int cliff_front, cliff_left, cliff_right;
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57 | 6c9146d5 | Tom Mullins | |
58 | 88fb3a79 | Tom Mullins | ros::NodeHandle nh; |
59 | 6c9146d5 | Tom Mullins | nh.initNode(); |
60 | 49090532 | Tom Mullins | |
61 | 2853d46b | Tom Mullins | /* Stepper */
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62 | // TODO ROS messages to set bounds
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63 | step_init(); |
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64 | step_dir(1);
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65 | step_set_size(STEP_WHOLE); |
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66 | step_sweep_bounds(-26, 26); |
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67 | |||
68 | 6c9146d5 | Tom Mullins | /* Range */
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69 | 47e26dee | Tom Mullins | range_init(); |
70 | 0970d303 | Tom Mullins | messages::sonar_distance range_msg; |
71 | 86b48573 | Tom Mullins | ros::Publisher range_pub("sonar_distance", &range_msg);
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72 | 6c9146d5 | Tom Mullins | ros::ServiceServer |
73 | 0970d303 | Tom Mullins | <messages::sonar_toggleRequest, messages::sonar_toggleResponse> |
74 | 6c9146d5 | Tom Mullins | range_toggle("sonar_toggle", range_toggle_cb);
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75 | ros::ServiceServer |
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76 | 0970d303 | Tom Mullins | <messages::sonar_set_scanRequest, messages::sonar_set_scanResponse> |
77 | 6c9146d5 | Tom Mullins | range_set_scan("sonar_set_scan", range_set_scan_cb);
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78 | 86b48573 | Tom Mullins | nh.advertise(range_pub); |
79 | 958699af | Tom Mullins | nh.advertiseService(range_toggle); |
80 | nh.advertiseService(range_set_scan); |
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81 | 6c9146d5 | Tom Mullins | |
82 | /* BOM */
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83 | 47e26dee | Tom Mullins | bom_init(); |
84 | 0970d303 | Tom Mullins | messages::bom bom_msg; |
85 | 6c9146d5 | Tom Mullins | ros::Publisher bom_pub("bom", &bom_msg);
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86 | 6e7f0a98 | Tom Mullins | nh.advertise(bom_pub); |
87 | 88fb3a79 | Tom Mullins | |
88 | 066b08bb | Tom Mullins | /* Headlights (aka Orbs) */
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89 | 0970d303 | Tom Mullins | orb_init(); |
90 | /*ros::Subscriber<messages::set_headlights> orb_sub("set_headlights",
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91 | 066b08bb | Tom Mullins | orb_callback);
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92 | 0970d303 | Tom Mullins | nh.subscribe(orb_sub);*/
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93 | 066b08bb | Tom Mullins | |
94 | 8741d18c | Tom Mullins | /* Cliff sensors */
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95 | cliffSensor_init(); |
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96 | 0970d303 | Tom Mullins | messages::cliff_status_changed cliff_msg; |
97 | 8741d18c | Tom Mullins | ros::Publisher cliff_pub("cliff", &cliff_msg);
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98 | nh.advertise(cliff_pub); |
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99 | |||
100 | 6e7f0a98 | Tom Mullins | id = 0;
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101 | 6c9146d5 | Tom Mullins | next = 0;
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102 | 88fb3a79 | Tom Mullins | while (1) |
103 | { |
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104 | 6c9146d5 | Tom Mullins | nh.spinOnce(); |
105 | |||
106 | /* Skip loop if the loop period hasn't passed yet */
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107 | /* TODO if we need more exact timing, we can enter a tight loop when now
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108 | * gets close to next, and avoid the uncertainty of nh.spinOnce() */
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109 | now = nh.getHardware()->time(); |
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110 | if (now < next) {
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111 | continue;
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112 | } |
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113 | next = now + MAINLOOP_PERIOD; |
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114 | |||
115 | /* Temporary, for BOM testing */
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116 | 6e7f0a98 | Tom Mullins | id++; |
117 | if (id == 0x40) { |
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118 | id = 0;
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119 | } |
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120 | set_robot_id(id); |
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121 | 066b08bb | Tom Mullins | bom_send(0);
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122 | 6c9146d5 | Tom Mullins | |
123 | /* BOM */
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124 | 6e7f0a98 | Tom Mullins | for (i = 0; i < 4; i++) { |
125 | int msg = bom_get(i);
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126 | if (msg != BOM_NO_DATA) {
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127 | bom_msg.sender = bom_msg_get_robot_id(msg); |
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128 | bom_msg.send_dir = bom_msg_get_dir(msg); |
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129 | bom_msg.recv_dir = i; |
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130 | bom_pub.publish(&bom_msg); |
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131 | } |
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132 | } |
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133 | 47e26dee | Tom Mullins | |
134 | 6c9146d5 | Tom Mullins | /* Stepper / range sensor */
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135 | 2853d46b | Tom Mullins | if (range_enabled) {
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136 | step_sweep(); |
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137 | range_measure(ranges); |
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138 | 8741d18c | Tom Mullins | range_msg.stamp = nh.now(); |
139 | daf6a575 | Tom Mullins | range_msg.pos = step_get_pos(); |
140 | 2853d46b | Tom Mullins | range_msg.distance0 = ranges[0];
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141 | range_msg.distance1 = ranges[1];
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142 | c06735bb | Hui Jun Tay | range_msg.stamp = nh.now(); |
143 | 2853d46b | Tom Mullins | range_pub.publish(&range_msg); |
144 | } |
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145 | 6c9146d5 | Tom Mullins | |
146 | 8741d18c | Tom Mullins | /* TODO remove raw values and have single bitmask */
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147 | 0970d303 | Tom Mullins | cliff_front = read_cliffSensor_front(); |
148 | cliff_left = read_cliffSensor_left(); |
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149 | cliff_right = read_cliffSensor_right(); |
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150 | if (cliff_front != cliff_msg.front_raw || cliff_left != cliff_msg.left_raw
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151 | || cliff_right != cliff_msg.right_raw) { |
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152 | cliff_msg.front_raw = cliff_front; |
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153 | cliff_msg.left_raw = cliff_left; |
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154 | cliff_msg.right_raw = cliff_right; |
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155 | cliff_msg.cliff_status = cliff_front || cliff_left || cliff_right; |
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156 | cliff_pub.publish(&cliff_msg); |
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157 | } |
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158 | 8741d18c | Tom Mullins | |
159 | 88fb3a79 | Tom Mullins | } |
160 | |||
161 | return 0; |
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162 | 49090532 | Tom Mullins | } |
163 | 88fb3a79 | Tom Mullins | |
164 | 807483bf | Tom Mullins | #else /////////////////////////////////////////////// |
165 | |||
166 | extern "C" |
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167 | 88fb3a79 | Tom Mullins | { |
168 | #include <stdlib.h> |
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169 | #include <string.h> |
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170 | fd73d758 | Tom Mullins | #include <avr/io.h> |
171 | #include <util/delay.h> |
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172 | 88fb3a79 | Tom Mullins | } |
173 | |||
174 | 49090532 | Tom Mullins | #include "Atmega128rfa1.h" |
175 | 1c3c96ce | Tom Mullins | #include "range.h" |
176 | f115416e | Tom Mullins | #include "bom.h" |
177 | 6c9146d5 | Tom Mullins | #include "stepper.h" |
178 | 49090532 | Tom Mullins | |
179 | 31f4a032 | Tom Mullins | Atmega128rfa1 avr; |
180 | |||
181 | 812788aa | Tom Mullins | void debug(const char *str) |
182 | { |
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183 | 31f4a032 | Tom Mullins | avr.puts(str); |
184 | } |
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185 | |||
186 | 88fb3a79 | Tom Mullins | int main()
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187 | { |
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188 | 1c3c96ce | Tom Mullins | char buf[20]; |
189 | 86b48573 | Tom Mullins | //int i;
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190 | //char id = 0;
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191 | 2853d46b | Tom Mullins | /*unsigned long now, next = 0;
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192 | unsigned int ranges[2];*/
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193 | 88fb3a79 | Tom Mullins | avr.init(); |
194 | 1c3c96ce | Tom Mullins | range_init(); |
195 | f115416e | Tom Mullins | bom_init(); |
196 | 2853d46b | Tom Mullins | func step_sweep_cb = step_init(10);
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197 | 6c9146d5 | Tom Mullins | step_sweep_bounds(-26, 26); |
198 | step_dir(1);
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199 | 2853d46b | Tom Mullins | step_sweep_speed(50);
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200 | PORTF |= _BV(PF4); |
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201 | _delay_ms(500);
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202 | PORTF = (PORTF & ~_BV(PF4)) | _BV(PF5); |
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203 | _delay_ms(500);
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204 | PORTF &= ~_BV(PF5); |
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205 | 88fb3a79 | Tom Mullins | while (1) |
206 | { |
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207 | 2853d46b | Tom Mullins | step_sweep_cb(); |
208 | _delay_ms(10);
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209 | /*now = avr.time();
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210 | 49090532 | Tom Mullins | if (now > next) {
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211 | 2853d46b | Tom Mullins | next = now + 500;*/
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212 | fd73d758 | Tom Mullins | /*ultoa(now, buf, 10);
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213 | 812788aa | Tom Mullins | avr.puts(buf);
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214 | fd73d758 | Tom Mullins | avr.puts("\r\n");*/
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215 | 6c9146d5 | Tom Mullins | /*id++;
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216 | 31f4a032 | Tom Mullins | if (id == 0x40) {
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217 | id = 0;
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218 | }
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219 | 6c9146d5 | Tom Mullins | set_robot_id(id);*/
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220 | 2853d46b | Tom Mullins | /*range_measure(ranges);
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221 | 86b48573 | Tom Mullins | utoa(ranges[0], buf, 10);
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222 | f115416e | Tom Mullins | avr.puts("Range: ");
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223 | avr.puts(buf);
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224 | avr.puts(", ");
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225 | 86b48573 | Tom Mullins | utoa(ranges[1], buf, 10);
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226 | avr.puts(buf);
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227 | 2853d46b | Tom Mullins | avr.puts("\r\n");*/
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228 | 6c9146d5 | Tom Mullins | /*for (i = 0; i < 4; i++) {
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229 | f115416e | Tom Mullins | bom_send(i);
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230 | int msg = bom_get(i);
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231 | if (msg != BOM_NO_DATA) {
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232 | avr.puts("BOM ");
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233 | itoa(i, buf, 10);
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234 | avr.puts(buf);
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235 | avr.puts(": ");
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236 | 31f4a032 | Tom Mullins | itoa(bom_msg_get_robot_id(msg), buf, 10);
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237 | avr.puts(buf);
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238 | avr.puts(" (");
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239 | itoa(bom_msg_get_dir(msg), buf, 10);
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240 | f115416e | Tom Mullins | avr.puts(buf);
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241 | 31f4a032 | Tom Mullins | avr.puts(")\r\n");
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242 | f115416e | Tom Mullins | }
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243 | 6c9146d5 | Tom Mullins | }*/
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244 | 2853d46b | Tom Mullins | //}
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245 | 88fb3a79 | Tom Mullins | } |
246 | return 0; |
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247 | cf115e3d | Tom Mullins | } |
248 | 807483bf | Tom Mullins | |
249 | #endif ////////////////////////////////////////////// |