Revision 1028
Changes all around. Matlab server is now passive, might work soon.
| test.c | ||
|---|---|---|
| 4 | 4 |
|
| 5 | 5 |
#include <dragonfly_lib.h> |
| 6 | 6 |
#include <wireless.h> |
| 7 |
#include <wl_token_ring.h> |
|
| 7 | 8 |
#include <encoders.h> |
| 9 |
#include <bom.h> |
|
| 8 | 10 |
#include "odometry.h" |
| 9 | 11 |
|
| 10 | 12 |
#define MAP_REQUEST_GROUP 23 |
| 11 | 13 |
|
| 14 |
#define DATA_INIT 4 |
|
| 12 | 15 |
#define DATA_POINT 2 |
| 13 | 16 |
#define DATA_REQUEST 3 |
| 14 | 17 |
|
| 18 |
#define WL_CHANNEL = 0xE |
|
| 19 |
|
|
| 15 | 20 |
int state; |
| 16 | 21 |
int velocity; |
| 22 |
int server = -1; |
|
| 17 | 23 |
char buf[100]; |
| 18 | 24 |
|
| 19 | 25 |
void respond(char type, int source, unsigned char* packet, int length); |
| 26 |
void transmit(void); |
|
| 20 | 27 |
|
| 21 | 28 |
PacketGroupHandler requestHandler = {MAP_REQUEST_GROUP,
|
| 22 | 29 |
NULL, NULL, respond, NULL}; |
| ... | ... | |
| 24 | 31 |
int main(void) |
| 25 | 32 |
{
|
| 26 | 33 |
/* initialize components and join the token ring */ |
| 27 |
dragonfly_init(ORB | RANGE | BOM | COMM);
|
|
| 34 |
dragonfly_init(RANGE | BOM | COMM); |
|
| 28 | 35 |
odometry_init(); |
| 29 | 36 |
|
| 30 | 37 |
wl_init(); |
| 31 |
wl_set_channel(0xE);
|
|
| 38 |
wl_set_channel(WL_CHANNEL);
|
|
| 32 | 39 |
wl_register_packet_group(&requestHandler); |
| 33 | 40 |
|
| 34 | 41 |
wl_token_ring_register(); |
| 42 |
wl_token_ring_set_bom_functions(transmit, bom_off, get_max_bom); |
|
| 35 | 43 |
wl_token_ring_join(); |
| 36 | 44 |
|
| 37 | 45 |
while(1) |
| ... | ... | |
| 58 | 66 |
store[7] = 125; // IR4 range |
| 59 | 67 |
store[8] = 125; // IR5 range |
| 60 | 68 |
|
| 69 |
char* data = (char*)store; |
|
| 70 |
|
|
| 61 | 71 |
wl_send_robot_to_robot_global_packet(MAP_REQUEST_GROUP, |
| 62 |
DATA_POINT, &store, 0, source, 0);
|
|
| 72 |
DATA_POINT, data, 18, source, 0);
|
|
| 63 | 73 |
} |
| 74 |
else if(type==DATA_INIT){
|
|
| 75 |
server = source; |
|
| 76 |
} |
|
| 64 | 77 |
} |
| 65 | 78 |
|
| 79 |
void transmit(){
|
|
| 80 |
bom_on(); |
|
| 66 | 81 |
|
| 82 |
/*If a server hasn't declared itself, return.*/ |
|
| 83 |
if(server == -1) return; |
|
| 84 |
|
|
| 85 |
int store[9]; |
|
| 86 |
store[0] = 0; //X |
|
| 87 |
store[1] = 0; //Y |
|
| 88 |
*((double*)(store + 2)) = 5.0; //Theta. |
|
| 89 |
store[4] = 125; // IR1 range |
|
| 90 |
store[5] = 125; // IR2 range |
|
| 91 |
store[6] = 125; // IR3 range |
|
| 92 |
store[7] = 125; // IR4 range |
|
| 93 |
store[8] = 125; // IR5 range |
|
| 94 |
|
|
| 95 |
char* data = (char*)store; |
|
| 96 |
|
|
| 97 |
wl_send_robot_to_robot_global_packet(MAP_REQUEST_GROUP, |
|
| 98 |
DATA_POINT, data, 18, server, 0); |
|
| 99 |
} |
|
| 100 |
|
|
| 101 |
|
|
| 102 |
|
|
Also available in: Unified diff