Revision 1276
added command to read all bom
main.c | ||
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125 | 125 |
wl_send_global_packet (robot_station_group, robot_station_data_bom, senddata, 2, 0); |
126 | 126 |
} |
127 | 127 |
|
128 |
static void message_read_bom_all(int length, uint8_t *data){ |
|
129 |
int i; |
|
130 |
int16_6 value[16]; |
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131 |
char senddata[32]; |
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132 |
bom_refresh(BOM_ALL); |
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133 |
for(i=0; i<16; i++){ |
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134 |
value[i] = bom_get(i); |
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senddata[2*i] = wORD_BYTE_0 (value[i]); |
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senddata[(2*i)+1] = WORD_BYTE_1 (value[i]); |
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} |
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138 |
|
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139 |
wl_send_global_packet(robot_station_group, robot_station_data_bom_all, senddata, 32, 0); |
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} |
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141 |
|
|
128 | 142 |
// *************************** |
129 | 143 |
// ** Message acknowledging ** |
130 | 144 |
// *************************** |
... | ... | |
165 | 179 |
case station_robot_read_encoders: message_read_encoders (length, packet); break; |
166 | 180 |
case station_robot_read_rangefinder: message_read_rangefinder (length, packet); break; |
167 | 181 |
case station_robot_read_bom: message_read_bom (length, packet); break; |
182 |
case station_robot_read_bom_all: message_read_bom_all (length, packet); break; |
|
168 | 183 |
} |
169 | 184 |
|
170 | 185 |
orb_set (255, 127, 0); |
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