root / branches / rbom / code / projects / slam / slam_defs.h @ 1390
History | View | Annotate | Download (571 Bytes)
1 | 90 | jscheine | #define SLAM_PACKET_GROUP 11 |
---|---|---|---|
2 | #define CONTROL_PACKET_TYPE 'C' |
||
3 | #define REQUEST_PACKET_TYPE 'R' |
||
4 | #define ROBOT_RESPONSE 'I' |
||
5 | |||
6 | #define MAX_ROBOTS 50 |
||
7 | |||
8 | //Request Packet organization.
|
||
9 | #define IR_1_LOC 0 |
||
10 | #define IR_2_LOC 1 |
||
11 | #define IR_3_LOC 2 |
||
12 | #define IR_4_LOC 3 |
||
13 | #define IR_5_LOC 4 |
||
14 | #define BOM_START_LOC 5 |
||
15 | |||
16 | typedef struct bom_node{ |
||
17 | char value;
|
||
18 | short int id; |
||
19 | struct bom_node* next;
|
||
20 | } BomNode; |
||
21 | |||
22 | typedef struct robot_data{ |
||
23 | short int id; |
||
24 | unsigned char IR[5]; |
||
25 | struct robot_data* next;
|
||
26 | struct bom_node* bom_head;
|
||
27 | } RobotData; |
||
28 | |||
29 | RobotData* head_bot; |
||
30 | RobotData* current_bot; |