Revision 1226
Robot/Station communication:
- Implemented timeouts
- Implemented command acknowledgement
main.c | ||
---|---|---|
41 | 41 |
dragonfly_init (0); |
42 | 42 |
orb_init (); |
43 | 43 |
|
44 |
// Initialize before using USB |
|
45 |
comm_server_init (); |
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44 |
if (!button2_read ()) |
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45 |
{ |
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46 |
// Initialize before using USB |
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47 |
comm_server_init (); |
|
46 | 48 |
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47 |
orb1_set (0, 0, 255); |
|
48 |
comm_robot_init (); |
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49 |
orb2_set (0, 0, 255); |
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50 |
|
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51 |
int16_t left=69, right=105; |
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52 |
|
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53 |
while (1) |
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54 |
{ |
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55 |
robot_set_motors (motor_direction_backward, 250, motor_direction_forward, 250); |
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56 |
delay_ms (200); |
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49 |
orb1_set (0, 0, 255); |
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50 |
comm_robot_init (); |
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51 |
orb2_set (0, 0, 255); |
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52 |
|
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53 |
int16_t left=69, right=105; |
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54 |
|
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55 |
while (0) |
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56 |
{ |
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57 |
robot_set_motors (motor_direction_backward, 250, motor_direction_forward, 250); |
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58 |
delay_ms (200); |
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59 |
} |
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60 |
|
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61 |
// Encoder test |
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62 |
robot_reset_encoders (); |
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63 |
while (1) |
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64 |
{ |
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65 |
bool result=robot_read_encoders (&left, &right); |
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66 |
usb_puti (result); |
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67 |
usb_puts (" "); |
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68 |
usb_puti (left); |
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69 |
usb_puts (" "); |
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70 |
usb_puti (right); |
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71 |
usb_puts (NL); |
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72 |
|
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73 |
delay_ms (200); |
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74 |
} |
|
57 | 75 |
} |
58 |
|
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59 |
// Encoder test |
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60 |
while (0) |
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76 |
else |
|
61 | 77 |
{ |
62 |
bool result=robot_read_encoders (&left, &right); |
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63 |
usb_puti (result); |
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64 |
usb_puts (" "); |
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65 |
usb_puti (left); |
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66 |
usb_puts (" "); |
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67 |
usb_puti (right); |
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68 |
usb_puts (NL); |
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69 |
|
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70 |
delay_ms (200); |
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78 |
delay_ms (1000); |
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79 |
main_default (); |
|
71 | 80 |
} |
72 | 81 |
|
73 | 82 |
while (1); |
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