Revision 1218
Fixing Station/Robot communication
| main.c | ||
|---|---|---|
| 40 | 40 |
{
|
| 41 | 41 |
dragonfly_init (0); |
| 42 | 42 |
orb_init (); |
| 43 |
orbs_set (0, 0,255,0,0,0); |
|
| 43 |
|
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| 44 |
// Initialize before using USB |
|
| 45 |
comm_server_init (); |
|
| 46 |
|
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orb1_set (0, 0, 255); |
|
| 48 |
comm_robot_init (); |
|
| 49 |
orb2_set (0, 0, 255); |
|
| 50 |
|
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int16_t left=69, right=105; |
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| 52 |
|
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while (1) |
|
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{
|
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robot_set_motors (motor_direction_backward, 250, motor_direction_forward, 250); |
|
| 56 |
delay_ms (200); |
|
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} |
|
| 58 |
|
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// Encoder test |
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while (0) |
|
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{
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bool result=robot_read_encoders (&left, &right); |
|
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usb_puti (result); |
|
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usb_puts (" ");
|
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usb_puti (left); |
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usb_puts (" ");
|
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usb_puti (right); |
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usb_puts (NL); |
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delay_ms (200); |
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} |
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|
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| 44 | 73 |
while (1); |
| 45 | 74 |
return 0; |
| 46 | 75 |
} |
| ... | ... | |
| 114 | 143 |
hardware_init (); |
| 115 | 144 |
|
| 116 | 145 |
orb1_set (255, 0, 0); usb_puts("# Initializing wireless" NL);
|
| 117 |
xbee_init (); |
|
| 118 |
wl_init(); |
|
| 146 |
comm_robot_init (); |
|
| 119 | 147 |
orb2_set (255, 0, 0); usb_puts("# Done" NL);
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| 120 | 148 |
|
| 121 | 149 |
// If button 1 is pressed after initialization of the wireless (which takes about 1s), run all tests. |
| ... | ... | |
| 134 | 162 |
} |
| 135 | 163 |
|
| 136 | 164 |
while (1); |
| 165 |
return 0; |
|
| 137 | 166 |
} |
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