Revision 1263
Added ADC dump on the station
main.c | ||
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90 | 90 |
wl_send_global_packet (robot_station_group, robot_station_data_encoders, senddata, 4, 0); |
91 | 91 |
} |
92 | 92 |
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93 |
static void message_read_rangefinders (int length, uint8_t *data)
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static void message_read_rangefinder (int length, uint8_t *data) |
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{ |
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int16_t value; |
96 | 96 |
int rangefinder_id = 0; |
... | ... | |
110 | 110 |
senddata[0] = WORD_BYTE_0 (value); |
111 | 111 |
senddata[1] = WORD_BYTE_1 (value); |
112 | 112 |
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wl_send_global_packet (robot_station_group, robot_station_data_rangefinders, senddata, 2, 0);
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wl_send_global_packet (robot_station_group, robot_station_data_rangefinder, senddata, 2, 0); |
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} |
116 | 116 |
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... | ... | |
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case station_robot_reset_encoders: message_reset_encoders (length, packet); send_done (); break; |
157 | 157 |
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// Request messages |
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case station_robot_read_encoders: message_read_encoders (length, packet); break;
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case station_robot_read_rangefinders: message_read_rangefinders (length, packet); break;
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case station_robot_read_bom: message_read_bom (length, packet); break;
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case station_robot_read_encoders: message_read_encoders (length, packet); break;
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case station_robot_read_rangefinder: message_read_rangefinder (length, packet); break;
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case station_robot_read_bom: message_read_bom (length, packet); break;
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162 | 162 |
} |
163 | 163 |
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164 | 164 |
orb_set (255, 127, 0); |
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