Revision 1192
added infrastructure for robot to send data to station
| comm_robot.c | ||
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| 4 | 4 |
#include "comm_robot.h" |
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#include "../common/comm_station_robot.h" |
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char new_data = 0; |
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char finished = 0; |
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char data_received[10]; |
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// A packet that is followed by a "done" packet from the robot. |
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static void send_command_packet (char type, char *data, int len) |
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{
|
| ... | ... | |
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} |
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// A packet that is followed by a data packet from the robot |
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//static void send_request_packet |
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//{
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// |
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//} |
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static void send_request_packet(char type, char *data, int len) |
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{
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wl_Send_global_packet (station_robot_group, type, data, len, 0); |
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while(!new_data){
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wl_do(); |
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} |
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new_data = 0; |
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} |
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| 27 | 35 |
|
| ... | ... | |
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send_command_packet (station_robot_set_bom, data, 2); |
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} |
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//void robot_read_encoders () |
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//{
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// send_request_packet (station_robot_read_enocders, NULL, 0); |
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//} |
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char* robot_read_encoders () |
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{
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send_request_packet (station_robot_read_enocders, NULL, 0); |
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return data_received; |
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} |
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void robot_station_receive(char type, int source, unsigned char* packet, int length) |
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{
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switch (type) |
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{
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case robot_station_finished: new_data = 1; break; |
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case robot_station_data_encoders: new_data = 1; break; |
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} |
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} |
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