root / trunk / code / behaviors / formation_control / circle_spacing / circle_spacing.c @ 1580
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| 1 | 1558 | gnagaraj | #include <dragonfly_lib.h> |
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| 2 | #include <wl_basic.h> |
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| 3 | #include<encoders.h> |
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| 4 | |||
| 5 | 1564 | gnagaraj | |
| 6 | int master = 0; |
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| 7 | int sending = 0; |
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| 8 | int stop = 0; |
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| 9 | 1580 | gnagaraj | struct vector slave_position;
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| 10 | 1564 | gnagaraj | |
| 11 | void switch_sending ()
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| 12 | {
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| 13 | if(sending)
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| 14 | {
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| 15 | sending = 0;
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| 16 | bom_off(); |
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| 17 | } |
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| 18 | else
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| 19 | {
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| 20 | sending = 1;
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| 21 | bom_on(); |
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| 22 | } |
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| 23 | } |
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| 24 | |||
| 25 | |||
| 26 | |||
| 27 | 1558 | gnagaraj | int main(void) |
| 28 | {
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| 29 | |||
| 30 | |||
| 31 | 1564 | gnagaraj | |
| 32 | int sending_counter = 0; |
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| 33 | 1558 | gnagaraj | |
| 34 | /* Initialize dragonfly board */
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| 35 | |||
| 36 | dragonfly_init(ALL_ON); |
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| 37 | xbee_init(); |
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| 38 | wl_basic_init_default(); |
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| 39 | wl_set_channel(12);
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| 40 | int data_length;
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| 41 | 1564 | gnagaraj | unsigned char *packet_data; |
| 42 | 1571 | gnagaraj | char send_buffer[2]; |
| 43 | 1564 | gnagaraj | |
| 44 | |||
| 45 | if(master) orb1_set_color(RED);
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| 46 | else orb1_set_color(BLUE);
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| 47 | |||
| 48 | while(1) |
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| 49 | {
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| 50 | |||
| 51 | |||
| 52 | |||
| 53 | |||
| 54 | 1558 | gnagaraj | bom_refresh(BOM_ALL); |
| 55 | |||
| 56 | |||
| 57 | 1564 | gnagaraj | |
| 58 | if(master)
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| 59 | {
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| 60 | |||
| 61 | 1571 | gnagaraj | if(sending_counter++>2) |
| 62 | 1564 | gnagaraj | {
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| 63 | switch_sending(); |
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| 64 | sending_counter = 0;
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| 65 | 1571 | gnagaraj | send_buffer[0] = 'a'; |
| 66 | 1564 | gnagaraj | wl_basic_send_global_packet(42, send_buffer, 1); |
| 67 | } |
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| 68 | |||
| 69 | |||
| 70 | if(sending)
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| 71 | {
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| 72 | |||
| 73 | |||
| 74 | |||
| 75 | |||
| 76 | |||
| 77 | } |
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| 78 | |||
| 79 | else // recieving |
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| 80 | {
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| 81 | 1580 | gnagaraj | |
| 82 | bom_get_vector(&slave_position, NULL);
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| 83 | if(slave_position.y/slave_position.x > 10){ |
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| 84 | |||
| 85 | //if(bom_get_max()+1==5){
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| 86 | |||
| 87 | 1571 | gnagaraj | send_buffer[0] = 's'; |
| 88 | wl_basic_send_global_packet(42, send_buffer, 2); |
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| 89 | 1564 | gnagaraj | } |
| 90 | } |
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| 91 | } |
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| 92 | |||
| 93 | |||
| 94 | |||
| 95 | else // slave |
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| 96 | {
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| 97 | if(packet_data[0]=='s') stop=1; |
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| 98 | if(packet_data[0]=='a') switch_sending(); |
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| 99 | |||
| 100 | if(sending)
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| 101 | {
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| 102 | 1571 | gnagaraj | /*
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| 103 | 1564 | gnagaraj | motor_l_set(FORWARD,0);
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| 104 | motor_r_set(FORWARD,0);
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| 105 | 1571 | gnagaraj | */
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| 106 | 1564 | gnagaraj | } |
| 107 | |||
| 108 | else // recieving |
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| 109 | {
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| 110 | |||
| 111 | if(stop)
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| 112 | {
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| 113 | 1571 | gnagaraj | motor_l_set(FORWARD,0);
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| 114 | motor_r_set(FORWARD,0);
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| 115 | orb1_set_color(GREEN); |
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| 116 | 1564 | gnagaraj | } |
| 117 | |||
| 118 | else
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| 119 | {
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| 120 | 1580 | gnagaraj | |
| 121 | 1564 | gnagaraj | |
| 122 | 1580 | gnagaraj | |
| 123 | |||
| 124 | //bom_get_vector(&slave_position, NULL);
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| 125 | //if(abs(slave_position.x)>2 && (double)slave_position.y/(double)slave_position.x < 0.1){
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| 126 | |||
| 127 | 1564 | gnagaraj | if(bom_get_max()+1==8){ |
| 128 | 1571 | gnagaraj | orb2_set_color(BLUE); |
| 129 | 1564 | gnagaraj | motor_r_set(FORWARD,180);
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| 130 | motor_l_set(FORWARD,180);
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| 131 | |||
| 132 | } |
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| 133 | else {
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| 134 | 1571 | gnagaraj | orb2_set_color(GREEN); |
| 135 | 1564 | gnagaraj | motor_l_set(FORWARD,0);
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| 136 | motor_r_set(FORWARD,180);
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| 137 | } |
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| 138 | } |
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| 139 | |||
| 140 | |||
| 141 | } |
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| 142 | |||
| 143 | |||
| 144 | } |
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| 145 | |||
| 146 | packet_data = wl_basic_do_default(&data_length); |
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| 147 | delay_ms(10);
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| 148 | } |
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| 149 | 1558 | gnagaraj | |
| 150 | |||
| 151 | return 0; |
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| 152 | |||
| 153 | |||
| 154 | |||
| 155 | |||
| 156 | } |
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| 157 |