Project

General

Profile

Revision 1345

Added by Rich Hong over 11 years ago

Final spline code for master/slave

updated outdated libdragonfly and libwireless

View differences:

wl_defs.h
1
/**
2
 * Copyright (c) 2007 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24
 **/
25

  
26
/**
27
 * @file wl_defs.h
28
 * @brief Definitions for Wireless
29
 *
30
 * Contains definitions for wireless packet groups, packet types,
31
 * debugging information, etc.
32
 *
33
 * @author Brian Coltin, Colony Project, CMU Robotics Club
34
 **/
35

  
36
#ifndef WL_DEFS_H
37
#define WL_DEFS_H
38

  
1 39
//comment out this line if using a computer hooked up to an xbee
2 40
//#define ROBOT
3 41

  
4 42
//uncomment this line for debug information
5
#define WL_DEBUG
43
//#define WL_DEBUG
6 44

  
7 45
// Packet Groups and Types
8 46

  
......
15 53
#define WL_TOKEN_RING_GROUP 2
16 54

  
17 55
#define WL_TOKEN_PASS 1
18
#define WL_TOKEN_BOM_ON 2
19
#define WL_TOKEN_INTERRUPT_REQUEST 3
20
#define WL_TOKEN_INTERRUPT_PASS 4
21
#define WL_TOKEN_JOIN 5
22
#define WL_TOKEN_JOIN_ACCEPT 6
56
#define WL_TOKEN_SENSOR_MATRIX 2
57
#define WL_TOKEN_BOM_ON 3
58
#define WL_TOKEN_JOIN 4
59
#define WL_TOKEN_JOIN_ACCEPT 5
23 60

  
24 61
// timing constants
62
#ifndef FIREFLY
25 63
#define BOM_DELAY 100
26
#define DEATH_DELAY 3
64
#else
65
#define BOM_DELAY 200
66
#endif
67

  
68
#define DEATH_DELAY 4
27 69
#define JOIN_DELAY 8
28 70

  
29
// Recharging group
30
#define WL_RECHARGE_GROUP 3
31

  
32
#define WL_RECHARGE_POLL_STATIONS 1
33
#define WL_RECHARGE_STATION_AVAILABLE 2
34
#define WL_RECHARGE_REQUEST 3
35
#define WL_RECHARGE_REQUEST_ACCEPT 4
36
#define WL_RECHARGE_VERIFY 5
37
#define WL_RECHARGE_CANCEL 6
38
#define WL_RECHARGE_SEEKING 7
39
#define WL_RECHARGE_DOCKED 8
40

  
41 71
#ifdef WL_DEBUG
42 72

  
43 73
#ifdef ROBOT
......
63 93

  
64 94
#endif
65 95

  
96
#endif
97

  

Also available in: Unified diff