Colony

/**

 * @file robot_shared.h

 * @author Colony Project

 *

 * @brief Shared simulator structures.

 *

 * This file is for structures that are used by

 * both the simulator and the simulator library which

 * is linked to by robot programs.

 **/

#ifndef __ROBOT_SHARED_H

#define __ROBOT_SHARED_H

/* rangefinders are 1-5, so write convert function for this */

typedef struct RangeFinderType

{

        short d[5];

} RangeFinder;

/* BOM has 16 leds, 0 - 15, with 0 pointing to the right

   increasing in index counterclockwise */

typedef struct BOMType

{

        short led[16];

        short bom_on;

} BOMs;

/* this is what is in the robot shared memory */

typedef struct RobotSharedType

{

        short motor1; /* motor1 value */

        short motor2; /* motor2 value */

        RangeFinder ranges; /* rangefinders */

        BOMs bom; /* BOM */

        /* add other sensors, etc here */

} RobotShared;

#endif