root / trunk / code / projects / diagnostic_station / station / robot_comm.c @ 1181
History | View | Annotate | Download (1.91 KB)
1 |
#include <dragonfly_lib.h> |
---|---|
2 |
#include <wireless.h> |
3 |
|
4 |
#include "robot_comm.h" |
5 |
#include "../common/comm_station_robot.h" |
6 |
|
7 |
// A packet that is followed by a "done" packet from the robot.
|
8 |
static void send_command_packet (char type, char *data, int len) |
9 |
{ |
10 |
wl_send_global_packet (station_robot_group, type, data, len, 0);
|
11 |
|
12 |
// TODO: is it guaranteed that the package will be sent on the next call to wl_do, or
|
13 |
// do we have to call wl_do in a loop?
|
14 |
|
15 |
// TODO: wait for "done" from robot.
|
16 |
|
17 |
wl_do (); |
18 |
} |
19 |
|
20 |
// A packet that is followed by a data packet from the robot
|
21 |
//static void send_request_packet
|
22 |
//{
|
23 |
//
|
24 |
//}
|
25 |
|
26 |
|
27 |
|
28 |
|
29 |
void robot_set_orbs (uint8_t red1, uint8_t green1, uint8_t blue1, uint8_t red2, uint8_t green2, uint8_t blue2)
|
30 |
{ |
31 |
char data[6]; |
32 |
|
33 |
data[0]=red1;
|
34 |
data[1]=green1;
|
35 |
data[2]=blue1;
|
36 |
|
37 |
data[3]=red2;
|
38 |
data[4]=green2;
|
39 |
data[5]=blue2;
|
40 |
|
41 |
send_command_packet (station_robot_set_orbs, data, 6);
|
42 |
} |
43 |
|
44 |
void robot_set_motors (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2)
|
45 |
{ |
46 |
char data[4]; |
47 |
|
48 |
data[0]=direction1;
|
49 |
data[1]=speed1;
|
50 |
data[2]=direction2;
|
51 |
data[3]=speed2;
|
52 |
|
53 |
send_command_packet (station_robot_set_motors, data, 4);
|
54 |
} |
55 |
|
56 |
void robot_set_motors_time (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2, uint16_t time_ms)
|
57 |
{ |
58 |
char data[6]; |
59 |
|
60 |
data[0]=direction1;
|
61 |
data[1]=speed1;
|
62 |
data[2]=direction2;
|
63 |
data[3]=speed2;
|
64 |
data[4]=WORD_BYTE_0(time_ms);
|
65 |
data[5]=WORD_BYTE_1(time_ms);
|
66 |
|
67 |
send_command_packet (station_robot_set_motors, data, 6);
|
68 |
} |
69 |
|
70 |
void robot_set_motors_off (void) |
71 |
{ |
72 |
send_command_packet (station_robot_set_motors_off, NULL, 0); |
73 |
} |
74 |
|
75 |
void robot_set_bom (uint16_t bitmask)
|
76 |
{ |
77 |
char data[2]; |
78 |
|
79 |
data[0]=WORD_BYTE_0(bitmask);
|
80 |
data[1]=WORD_BYTE_1(bitmask);
|
81 |
|
82 |
send_command_packet (station_robot_set_bom, data, 2);
|
83 |
} |
84 |
|
85 |
//void robot_read_encoders ()
|
86 |
//{
|
87 |
// send_request_packet (station_robot_read_enocders, NULL, 0);
|
88 |
//}
|