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Revision 1127

Added by Abraham Levkoy about 15 years ago

Put smart run around FSM in autonomous mapping program
Robot goes into BACKWARDS mode a few seconds after starting up and apparently cannot be diverted

View differences:

trunk/code/projects/mapping/test/Makefile
4 4 

  		




  5
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# Relative path to the root directory (containing lib directory)


  		




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ifndef COLONYROOT


  		




  7
  
  
    
COLONYROOT = ../../..


  		




  
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COLONYROOT = ../../../..


  		




  8
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endif


  		




  9
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# Target file name (without extension).


  		












  

    
      trunk/code/projects/mapping/auto/robot_main.c
    
  





  2
  2
  
    
#include <wireless.h>


  		




  3
  3
  
    
#include <encoders.h>


  		




  4
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#include "odometry.h"


  		




  
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#include "smart_run_around_fsm.h"


  		




  5
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#define POLLING_INTERVAL 50    //interval in ms to get sensor data


  		




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#define MAP 1	// packet group for sending data points


  		




  ......




  14
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    /* initialize components and join the token ring */


  		




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    dragonfly_init(ALL_ON);


  		




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    odometry_init();


  		




  
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    run_around_init();


  		




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    orb_enable();


  		




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    wl_init();


  		




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    wl_set_channel(0xE);


  		




  ......




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		send = (char*) store;	// convert to char for wireless


  		




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		wl_send_global_packet(MAP, ODO, send, 18, 0);


  		




  
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		run_around_FSM();


  		




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    }


  		




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    wl_terminate();


  		












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