root / branches / colonetmk2 / code / projects / swarm / robot / main.c @ 1456
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1 | 1456 | rcahoon | #include <dragonfly_lib.h> |
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2 | #include <wireless.h> |
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3 | #include <wl_token_ring.h> |
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4 | //#include <xbee.h>
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5 | |||
6 | //#define SWARM_PACKET_GROUP_ID 0x8
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7 | |||
8 | //static PacketGroupHandler swarm_pgh;
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9 | //static void swarm_handle_receive(char type, int wl_source, unsigned char* packet, int length);
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10 | |||
11 | int main(void) |
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12 | { |
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13 | dragonfly_init(ALL_ON); |
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14 | |||
15 | wl_init(); |
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16 | wl_set_channel(0xF);
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17 | |||
18 | /*swarm_pgh.groupCode = SWARM_PACKET_GROUP_ID;
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19 | swarm_pgh.timeout_handler = NULL;
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20 | swarm_pgh.handle_response = NULL;
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21 | swarm_pgh.handle_receive = swarm_handle_receive;
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22 | swarm_pgh.unregister = NULL;
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23 | wl_register_packet_group(&swarm_pgh);*/
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24 | |||
25 | wl_token_ring_register(); |
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26 | wl_token_ring_join(); |
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27 | |||
28 | usb_puts("initialized\r\n");
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29 | |||
30 | /*char packet[] = { 0x0, 0x1, 0x0, 0x3, 0x4, 0x0, 0x6, 0x7, 0x8, 0x0, 0xa, 0xb, 0xc, 0xd, 0x0, 0xf, 0x0 };
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31 | int length = 17;
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32 | |||
33 | int num = 0;*/
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34 | |||
35 | while (1) |
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36 | { |
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37 | wl_do(); |
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38 | /*packet[16] = num;
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39 | wl_send_global_packet(SWARM_PACKET_GROUP_ID, 0, packet, length, 0);
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40 | usb_puts("sent ");
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41 | usb_puti(num);
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42 | usb_puts("\r\n");
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43 | num++;
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44 | delay_ms(50);*/
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45 | } |
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46 | } |
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47 | |||
48 | /*static void swarm_handle_receive(char type, int wl_source, unsigned char* packet, int length)
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49 | {
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50 | //wl_send_robot_to_robot_packet(SWARM_PACKET_GROUP_ID, type, packet, length, wl_source, 0);
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51 | |||
52 | char buf[40];
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53 | int i;
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54 | for (i = 0; i < length; i++) {
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55 | sprintf(buf, "%d: %d ", i, packet[i]);
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56 | usb_puts(buf);
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57 | }
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58 | usb_puts("\r\n");
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59 | }*/
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