Revision 1245
Changed some function signatures for robot communication
trunk/code/projects/diagnostic_station/station/test_rangefinders.c | ||
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39 | 39 |
{ |
40 | 40 |
wall_set_position (wall); |
41 | 41 |
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data_wall [i]=wall_get_position ();
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data_rangefinder[i]=robot_read_rangefinder (num);
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data_wall[i]=wall_get_position (); |
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robot_read_rangefinder (num, &data_rangefinder[i]);
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44 | 44 |
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45 | 45 |
wall+=wall_step; |
46 | 46 |
} |
trunk/code/projects/diagnostic_station/station/test_bom.c | ||
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78 | 78 |
usb_puts(NL); |
79 | 79 |
turntable_rotate_to_position (bom_detector_position (n)); |
80 | 80 |
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81 |
uint16_t on_value, off_value; |
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82 |
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81 | 83 |
rbom_set (true); |
82 |
uint16_t on_value=robot_read_bom (n);
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robot_read_bom (n, &on_value);
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83 | 85 |
rbom_set (false); |
84 |
uint16_t off_value=robot_read_bom (n);
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robot_read_bom (n, &off_value);
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85 | 87 |
|
86 | 88 |
// Send data |
87 | 89 |
usb_puts ("data bom detector "); |
trunk/code/projects/diagnostic_station/station/comm_robot.c | ||
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191 | 191 |
} |
192 | 192 |
} |
193 | 193 |
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uint16_t robot_read_bom (uint8_t num)
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bool robot_read_bom (uint8_t num, uint16_t *value)
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195 | 195 |
{ |
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*value=0; |
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196 | 197 |
// FIXME implement |
197 |
return 0;
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return true;
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198 | 199 |
} |
199 | 200 |
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uint16_t robot_read_rangefinder (uint8_t num)
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bool robot_read_rangefinder (uint8_t num, uint16_t *value)
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201 | 202 |
{ |
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*value=0; |
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202 | 204 |
// FIXME implement |
203 |
return 0;
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return true;
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204 | 206 |
} |
205 | 207 |
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206 | 208 |
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trunk/code/projects/diagnostic_station/station/comm_robot.h | ||
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15 | 15 |
void robot_reset_encoders (void); |
16 | 16 |
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17 | 17 |
bool robot_read_encoders (int16_t *left, int16_t *right); |
18 |
uint16_t robot_read_bom (uint8_t num);
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uint16_t robot_read_rangefinder (uint8_t num);
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bool robot_read_bom (uint8_t num, uint16_t *value);
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bool robot_read_rangefinder (uint8_t num, uint16_t *value);
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20 | 20 |
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21 | 21 |
#define motor_direction_off 0 |
22 | 22 |
#define motor_direction_forward 1 |
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