Revision 1447
fixed testbench, now it works!
also fixed hunter prey reference to allow packet type of 42, but there is still a bug in the reference WRT the latest spec because it waits indefinitely for an ACK
| main.c | ||
|---|---|---|
| 116 | 116 |
|
| 117 | 117 |
if(robotState==ROBOT_TAGGED) {
|
| 118 | 118 |
usb_puts("tagged, waiting to send ACK\n");
|
| 119 |
delay_ms(TAG_PAUSE); |
|
| 119 |
//delay_ms(TAG_PAUSE);
|
|
| 120 | 120 |
move(0,0); |
| 121 | 121 |
usb_puts("sending ACK to ");
|
| 122 | 122 |
usb_puti(tagger); |
| 123 | 123 |
usb_putc('\n');
|
| 124 | 124 |
packet[0] = HUNTER_PREY_ACTION_ACK; |
| 125 | 125 |
packet[1] = tagger; |
| 126 |
wl_basic_send_global_packet (0, &packet, 2);
|
|
| 126 |
wl_basic_send_global_packet (42, &packet, 2);
|
|
| 127 | 127 |
usb_puts("sent\n");
|
| 128 | 128 |
robotState = ROBOT_HUNTER; //no longer prey |
| 129 | 129 |
} |
| ... | ... | |
| 184 | 184 |
|
| 185 | 185 |
|
| 186 | 186 |
|
| 187 |
if(hunter_prey_tagged(angle, frontRange)) {
|
|
| 187 |
if(hunter_prey_tagged(angle, frontRange) || button1_read()) {
|
|
| 188 | 188 |
orb_set_color(YELLOW); |
| 189 | 189 |
color1 = YELLOW; |
| 190 | 190 |
color2 = YELLOW; |
| ... | ... | |
| 192 | 192 |
tagAck = 0; |
| 193 | 193 |
packet[0] = HUNTER_PREY_ACTION_TAG; |
| 194 | 194 |
packet[1] = id; |
| 195 |
wl_basic_send_global_packet (0, &packet, 2);
|
|
| 195 |
wl_basic_send_global_packet (42, &packet, 2);
|
|
| 196 | 196 |
move(0,0); |
| 197 | 197 |
while(!tagAck) |
| 198 | 198 |
wl_do(); |
| ... | ... | |
| 222 | 222 |
void packet_receive(char type, int source, unsigned char* packet, int length) |
| 223 | 223 |
{
|
| 224 | 224 |
|
| 225 |
if(type==0 && length>=2){
|
|
| 225 |
if(type==42 && length>=2){
|
|
| 226 | 226 |
if(packet[0] == HUNTER_PREY_ACTION_TAG) {
|
| 227 | 227 |
if(robotState == ROBOT_PREY) {
|
| 228 | 228 |
robotState = ROBOT_TAGGED; |
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