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Revision 1345

Added by Rich Hong almost 15 years ago

Final spline code for master/slave

updated outdated libdragonfly and libwireless

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wl_defs.h
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/**
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 * Copyright (c) 2007 Colony Project
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 *
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 *
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 *
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**


  		




  
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 * @file wl_defs.h


  		




  
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 * @brief Definitions for Wireless


  		




  
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 *


  		




  
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 * Contains definitions for wireless packet groups, packet types,


  		




  
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 * debugging information, etc.


  		




  
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 *


  		




  
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 * @author Brian Coltin, Colony Project, CMU Robotics Club


  		




  
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 **/


  		




  
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#ifndef WL_DEFS_H


  		




  
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#define WL_DEFS_H


  		




  
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//comment out this line if using a computer hooked up to an xbee


  		




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//#define ROBOT


  		




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//uncomment this line for debug information


  		




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#define WL_DEBUG


  		




  
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//#define WL_DEBUG


  		




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// Packet Groups and Types


  		




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  ......




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#define WL_TOKEN_RING_GROUP 2


  		




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#define WL_TOKEN_PASS 1


  		




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#define WL_TOKEN_BOM_ON 2


  		




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#define WL_TOKEN_INTERRUPT_REQUEST 3


  		




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#define WL_TOKEN_INTERRUPT_PASS 4


  		




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#define WL_TOKEN_JOIN 5


  		




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#define WL_TOKEN_JOIN_ACCEPT 6


  		




  
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#define WL_TOKEN_SENSOR_MATRIX 2


  		




  
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#define WL_TOKEN_BOM_ON 3


  		




  
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#define WL_TOKEN_JOIN 4


  		




  
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#define WL_TOKEN_JOIN_ACCEPT 5


  		




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// timing constants


  		




  
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#ifndef FIREFLY


  		




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#define BOM_DELAY 100


  		




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#define DEATH_DELAY 3


  		




  
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#else


  		




  
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#define BOM_DELAY 200


  		




  
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#endif


  		




  
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#define DEATH_DELAY 4


  		




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#define JOIN_DELAY 8


  		




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// Recharging group


  		




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#define WL_RECHARGE_GROUP 3


  		




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#define WL_RECHARGE_POLL_STATIONS 1


  		




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#define WL_RECHARGE_STATION_AVAILABLE 2


  		




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#define WL_RECHARGE_REQUEST 3


  		




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#define WL_RECHARGE_REQUEST_ACCEPT 4


  		




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#define WL_RECHARGE_VERIFY 5


  		




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#define WL_RECHARGE_CANCEL 6


  		




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#define WL_RECHARGE_SEEKING 7


  		




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#define WL_RECHARGE_DOCKED 8


  		




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#ifdef WL_DEBUG


  		




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#ifdef ROBOT


  		




  ......




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#endif


  		




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#endif


  		




  
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