/ - Diff - Colony - Robotics Club

     #include <sys/ipc.h>
     #include <robot_shared.h>
     #include <string.h>
     RobotShared* shared_state;
     void *tick(int sig)
-...
       printf("hello. I am a robot w/ memory_id %s\n", getenv("memory_id"));
       iv.it_interval.tv_sec = 1;
       iv.it_interval.tv_usec = 0;
       iv.it_value.tv_sec = 3;
       iv.it_value.tv_usec = 0;
       iv.it_interval.tv_sec = 0;
       iv.it_interval.tv_usec = 50000;
       iv.it_value.tv_sec = 0;
       iv.it_value.tv_usec = 50000;
       signal(SIGVTALRM, tick);

     TARGET = libsim
     all: $(OBJ)
     all: dist
     build: $(OBJ)
     	$(AR) rcs $(TARGET).a $(OBJ)
     %.o: %.c
-...
     clean:
     	$(RM) $(OBJ) $(TARGET).a
     dist: all
     dist: build
     	$(CP) $(TARGET).a $(OUTPUT)

     static void draw_robot(GdkDrawable* drawable, GdkGC* gc,
                             int x, int y, int angle);
                             float x, float y, float angle);
     GtkType gtk_environment_view_get_type(void)
+    {
-...
     	robot_iterator_reset();
     	Robot* r;
     	while ((r = robot_iterator_next()) != NULL) {
             printf("x: %d, y:%d, Theta: %f\n",
             printf("x: %f, y:%f, Theta: %f\n",
                 r->pose.x, r->pose.y, r->pose.theta);
     		draw_robot(widget->window,
     			widget->style->fg_gc[GTK_WIDGET_STATE(widget)],
-...
+    }
     static void draw_robot(GdkDrawable* drawable, GdkGC* gc,
                             int x, int y, int angle)
                             float x, float y, float angle)
+    {
     	if (!drawable || !gc)
     		return;
     	double ang_rad = angle * ENVIRONMENT_PI / 180;
     	int x_c = x - ENVIRONMENT_ROBOT_DIAMETER / 2;
     	int y_c = y - ENVIRONMENT_ROBOT_DIAMETER / 2;
     	int x_c = (int)x - ENVIRONMENT_ROBOT_DIAMETER / 2;
     	int y_c = (int)y - ENVIRONMENT_ROBOT_DIAMETER / 2;
     	gdk_draw_arc(drawable, gc, FALSE, x_c, y_c,
     	  	ENVIRONMENT_ROBOT_DIAMETER, ENVIRONMENT_ROBOT_DIAMETER,
 , 360*64);
     	gdk_draw_line(drawable, gc, x, y,
     		x + (ENVIRONMENT_ROBOT_DIAMETER - 10) * cos(ang_rad),
     		y - (ENVIRONMENT_ROBOT_DIAMETER - 10) * sin(ang_rad));
     		x + (ENVIRONMENT_ROBOT_DIAMETER - 10) * cos(-angle),
     		y - (ENVIRONMENT_ROBOT_DIAMETER - 10) * sin(-angle));
+    }

     #define TIME			1 /*sec*/
     #define ROBOT_WIDTH 131 /*mm*/
     #define MOTOR_CONVERSION_FACTOR 10.0
     /** move will move a robot from its initial position, (x,y), and theta (in radians) to a new position given speed.
      * (x,y) and theta will be updated by the move function instead of returning a value
      * (x,y) is some kind of absolute position in the "world", let's make (0,0) the top left of the "world"
-...
     	if (ABS(speed2) < CUTOFF) {
     		speed2 = 0;
+    	}
     	speed1 = (speed1 - CUTOFF);
     	speed2 = (speed2 - CUTOFF);
     	double radius;
     	if (speed1 == speed2) {
     		/* go straight */
     	r->pose.x += cos(theta) * speed1;
     	r->pose.y += sin(theta) * speed1;
     	r->pose.x += cos(theta) * speed1 / MOTOR_CONVERSION_FACTOR;
     	r->pose.y += sin(theta) * speed1 / MOTOR_CONVERSION_FACTOR;
     		return 0;
+    	}
     	radius = ROBOT_WIDTH * speed1 / (speed1 - speed2);
     	double t = speed1 / radius;
     	double t = speed1 / radius / MOTOR_CONVERSION_FACTOR;
     	double newx = radius * sin(t);
     	double newy = radius - radius * cos(t);
     	double newx = (radius * sin(t)) / MOTOR_CONVERSION_FACTOR;
     	double newy = (radius - radius * cos(t)) / MOTOR_CONVERSION_FACTOR;
     	r->pose.x += newx * cos(theta);
     	r->pose.y += newx * sin(theta);

     typedef struct PoseType
+    {
     	int x,y; /* position of robot in environment */
     	float x,y; /* position of robot in environment */
     	float theta; /* orientation of robot in environment */
     } Pose;

branches/simulator/projects/template/main.c
4	4	{
5	5	dragonfly_init(ALL_ON);
6	6	bom_leds_on(BOM_ALL);
	7	motor1_set(1, 200);
	8	motor2_set(1, 150);
7	9	while(1){}
8	10	return 0;
9	11	}

     # USE_WIRELESS = 1
     # Relative path to the root directory (containing lib directory)
     PROJECTSROOT = ..
     ifndef COLONYLIB
     COLONYLIB = ../../lib
     COLONYLIB = $(PROJECTSROOT)/../lib
     endif
+    #
-...
     REMOVE = rm -f
     REMOVEDIR = rm -rf
     COPY = cp
     CP = cp
     WINSHELL = cmd
-...
     all: begin gccversion sizebefore build sizeafter end
     build: elf hex eep lss sym
     sim: $(SIMOBJ)
     sim: dist
     buildsim: $(SIMOBJ)
     	$(SIMCC) $(SIMALL_CFLAGS) $^ -o $(TARGET) $(SIMLDFLAGS)
     dist: buildsim
     	$(CP) $(TARGET) $(PROJECTSROOT)/simulator/simulator/bin/
     %.obj : %.c
     	$(SIMCC) -c $(SIMALL_CFLAGS) $< -o $@

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