Revision 1809
Woking version
| trunk/code/behaviors/formation_control/circle_spacing/circle_spacing.c | ||
|---|---|---|
| 1 | 1 |
#include <dragonfly_lib.h> |
| 2 | 2 |
#include <wl_basic.h> |
| 3 | 3 |
#include<encoders.h> |
| 4 |
#include "circle_spacing.h" |
|
| 4 | 5 |
|
| 6 |
enum role_e {MASTER,SLAVE};
|
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| 7 |
enum state_e {INIT, ID, MAPPING, PLANNING, WAIT, SENDING, RECIEVING, FINISH};
|
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| 5 | 8 |
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| 9 |
enum role_e role = SLAVE; |
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| 10 |
enum state_e current_state = INIT; |
|
| 11 |
enum state_e next_state = INIT; |
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| 12 |
|
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| 13 |
int used[17] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; // if a robot is here, the value of the indice equal to its id is 1, esle 0
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| 14 |
int map[17] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; // Angular position of the robot which id equals the indice (20 for not here)
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| 15 |
int neighbour[17] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; // clockwise neighbour
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int gap[17] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; // gap to the left of the robot
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| 17 |
int stop = 0; |
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| 18 |
struct vector slave_position; |
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| 19 |
int desired_max_bom; |
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| 20 |
int bom_max_counter; |
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| 21 |
int robotid; |
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| 22 |
int centerid = 0; |
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| 23 |
int robotsRecieved=0; |
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| 24 |
int target_slave = 0; |
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| 25 |
|
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| 26 |
|
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| 27 |
void set_desired_max_bom(int desired_angle) |
|
| 28 |
{
|
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| 29 |
if (desired_angle >= 348 || desired_angle < 11) desired_max_bom = 0; |
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| 30 |
if (desired_angle >= 11 && desired_angle < 33) desired_max_bom = 1; |
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| 31 |
if (desired_angle >= 33 && desired_angle < 56) desired_max_bom = 2; |
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| 32 |
if (desired_angle >= 56 && desired_angle < 78) desired_max_bom = 3; |
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| 33 |
if (desired_angle >= 78 && desired_angle < 101) desired_max_bom = 4; |
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| 34 |
if (desired_angle >= 101 && desired_angle < 123) desired_max_bom = 5; |
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if (desired_angle >= 123 && desired_angle < 145) desired_max_bom = 6; |
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if (desired_angle >= 145 && desired_angle < 167) desired_max_bom = 7; |
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if (desired_angle >= 167 && desired_angle < 190) desired_max_bom = 8; |
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| 38 |
if (desired_angle >= 190 && desired_angle < 212) desired_max_bom = 9; |
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if (desired_angle >= 212 && desired_angle < 235) desired_max_bom = 10; |
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if (desired_angle >= 235 && desired_angle < 257) desired_max_bom = 11; |
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if (desired_angle >= 257 && desired_angle < 280) desired_max_bom = 12; |
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if (desired_angle >= 280 && desired_angle < 302) desired_max_bom = 13; |
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if (desired_angle >= 302 && desired_angle < 325) desired_max_bom = 14; |
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if (desired_angle >= 325 && desired_angle < 348) desired_max_bom = 15; |
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| 45 |
} |
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|
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// collects the angular position of the slave robots by making them switch their bom one by one. |
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|
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void map_slaves() |
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{
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int bom_max; |
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|
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for(int i=0; i<17; i++) |
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{
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| 55 |
if(used[i]) |
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{
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send2(CIRCLE_ACTION_MAP,i); |
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delay_ms(1000); |
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| 59 |
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do |
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{
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| 62 |
bom_refresh(BOM_ALL); |
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| 63 |
bom_max = bom_get_max(); |
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| 64 |
} |
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while(bom_max == -1); |
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map[i] = bom_max; |
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send2(CIRCLE_ACTION_DONE,i); |
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} |
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} |
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|
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| 72 |
usb_puts("Map: \r\n");
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| 73 |
for(int i=0; i<17; i++) |
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| 74 |
{
|
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| 75 |
usb_puti(map[i]); |
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usb_puts("\r\n");
|
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| 77 |
} |
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| 78 |
} |
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| 79 |
|
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| 80 |
void plan() |
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{
|
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| 82 |
static int k = 0; |
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| 83 |
|
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| 84 |
target_slave++; |
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| 85 |
|
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| 86 |
if(target_slave>16) |
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| 87 |
{
|
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| 88 |
next_state = FINISH; |
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| 89 |
orb1_set_color(YELLOW); |
|
| 90 |
} |
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| 91 |
else if(used[target_slave]) |
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| 92 |
{
|
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| 93 |
k++; |
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usb_puts("K: ");
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| 95 |
usb_puti(k); |
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| 96 |
usb_puts("\r\n");
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| 97 |
set_desired_max_bom(360/robotsRecieved*k); |
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| 98 |
send2(CIRCLE_ACTION_MOVE,target_slave); |
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delay_ms(500); |
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next_state = SENDING; |
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| 101 |
} |
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| 102 |
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| 103 |
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| 104 |
} |
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| 106 |
void plan2() |
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{
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| 108 |
int order[robotsRecieved]; |
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int check[17] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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for(int i=0; i<robotsRecieved; i++) |
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{
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int current; |
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int min = 20; |
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| 117 |
for(int j=0; j<17; j++) |
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| 118 |
{
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| 119 |
if(map[j]<min && !check[j]) |
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| 120 |
{
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current = j; |
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min = map[j]; |
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| 123 |
usb_puts("Test \r\n");
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| 124 |
} |
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| 125 |
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| 126 |
} |
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| 127 |
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| 128 |
order[i]=current; |
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check[current]=1; |
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| 130 |
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| 131 |
usb_puti(i); |
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| 132 |
usb_puts(" Current: ");
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| 133 |
usb_puti(current); |
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| 134 |
usb_puts("\r\n");
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| 135 |
} |
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usb_puts("Order: \r\n");
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| 137 |
for(int i=0; i<robotsRecieved; i++) |
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| 138 |
{ usb_puti(i);
|
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| 139 |
usb_puts(" ");
|
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| 140 |
usb_puti(order[i]); |
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| 141 |
usb_puts("\r\n");
|
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| 142 |
} |
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| 143 |
|
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| 144 |
for(int i=0; i<robotsRecieved; i++) |
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| 145 |
{
|
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| 146 |
if(i==robotsRecieved-1) gap[order[i]]= map[order[0]] - map[order[i]] +16; // closes the loop |
|
| 147 |
else gap[order[i]]= map[order[i+1]] - map[order[i]]; |
|
| 148 |
} |
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| 149 |
|
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| 150 |
usb_puts("Gap: \r\n");
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| 151 |
for(int i=0; i<17; i++) |
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| 152 |
{
|
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| 153 |
usb_puti(gap[i]); |
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usb_puts("\r\n");
|
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| 155 |
} |
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| 156 |
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| 157 |
for(int i=0; i<robotsRecieved; i++) |
|
| 158 |
{
|
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| 159 |
if(i==0) neighbour[order[i]]=order[robotsRecieved-1]; |
|
| 160 |
else neighbour[order[i]]=order[i-1]; |
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| 161 |
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| 162 |
} |
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| 163 |
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| 164 |
usb_puts("Neighbour: \r\n");
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| 165 |
for(int i=0; i<17; i++) |
|
| 166 |
{
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| 167 |
usb_puti(neighbour[i]); |
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| 168 |
usb_puts("\r\n");
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| 169 |
} |
|
| 170 |
} |
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| 171 |
|
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| 172 |
void plan3() |
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| 173 |
{
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| 174 |
static int move_counter =0; |
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| 175 |
int max = 0; |
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| 176 |
int move_gap = 0; |
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| 177 |
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| 178 |
for(int j=0; j<17; j++) |
|
| 179 |
{
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| 180 |
if(gap[j]>max && gap[j]!=20) |
|
| 181 |
{
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| 182 |
target_slave = j; |
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| 183 |
max = gap[j]; |
|
| 184 |
} |
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| 185 |
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| 186 |
} |
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| 187 |
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move_counter++; |
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if(move_counter==robotsRecieved) next_state = FINISH; |
|
| 190 |
else |
|
| 191 |
{
|
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| 192 |
move_gap = gap[target_slave]-16/robotsRecieved; |
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| 193 |
desired_max_bom = map[target_slave]+move_gap; |
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| 194 |
if(desired_max_bom>15) desired_max_bom-=16; |
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| 195 |
gap[target_slave]-=move_gap; |
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| 196 |
gap[neighbour[target_slave]] += move_gap; |
|
| 197 |
usb_puts("Target:");
|
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| 198 |
usb_puti(target_slave); |
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usb_puts(" Destination:");
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usb_puti(desired_max_bom); |
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usb_puts("\n\r");
|
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| 202 |
send2(CIRCLE_ACTION_MOVE,target_slave); |
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delay_ms(500); |
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next_state = SENDING; |
|
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} |
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} |
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|
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| 208 |
|
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| 209 |
void switch_state () |
|
| 210 |
{
|
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| 211 |
switch(role) |
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{
|
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| 213 |
case MASTER: |
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switch(current_state) |
|
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{
|
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| 216 |
case PLANNING: |
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| 217 |
orb1_set_color(RED); |
|
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break; |
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case SENDING: |
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bom_off(); |
|
| 221 |
break; |
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} |
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| 223 |
|
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| 224 |
|
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| 225 |
|
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switch(next_state) |
|
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{
|
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| 228 |
case ID: |
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send2(CIRCLE_ACTION_EXIST,robotid); |
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| 230 |
break; |
|
| 231 |
|
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| 232 |
case MAPPING: |
|
| 233 |
map_slaves(); |
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| 234 |
plan2(); |
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| 235 |
break; |
|
| 236 |
|
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case PLANNING: |
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| 238 |
|
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orb1_set_color(PINK); |
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| 240 |
|
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| 241 |
break; |
|
| 242 |
|
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| 243 |
case SENDING: |
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| 244 |
bom_on(); |
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| 245 |
break; |
|
| 246 |
|
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| 247 |
case RECIEVING: |
|
| 248 |
break; |
|
| 249 |
} |
|
| 250 |
break; |
|
| 251 |
|
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| 252 |
case SLAVE: |
|
| 253 |
switch(current_state) |
|
| 254 |
{
|
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| 255 |
case SENDING: |
|
| 256 |
bom_off(); |
|
| 257 |
break; |
|
| 258 |
|
|
| 259 |
} |
|
| 260 |
|
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| 261 |
|
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| 262 |
|
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| 263 |
switch(next_state) |
|
| 264 |
{
|
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| 265 |
case ID: |
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| 266 |
|
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| 267 |
break; |
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| 268 |
|
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| 269 |
case MAPPING: |
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| 270 |
orb1_set_color(PINK); |
|
| 271 |
break; |
|
| 272 |
|
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| 273 |
case SENDING: |
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| 274 |
bom_on(); |
|
| 275 |
break; |
|
| 276 |
|
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| 277 |
case RECIEVING: |
|
| 278 |
bom_off(); |
|
| 279 |
break; |
|
| 280 |
case FINISH: |
|
| 281 |
motor_l_set(FORWARD,0); |
|
| 282 |
motor_r_set(FORWARD,0); |
|
| 283 |
orb1_set_color(YELLOW); |
|
| 284 |
break; |
|
| 285 |
} |
|
| 286 |
break; |
|
| 287 |
} |
|
| 288 |
|
|
| 289 |
|
|
| 290 |
current_state = next_state; |
|
| 291 |
} |
|
| 292 |
|
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| 293 |
|
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| 294 |
void send2(char arg0, char arg1) |
|
| 295 |
{
|
|
| 296 |
char send_buffer[2]; |
|
| 297 |
send_buffer[0]=arg0; |
|
| 298 |
send_buffer[1]=arg1; |
|
| 299 |
wl_basic_send_global_packet(42,send_buffer,2); |
|
| 300 |
} |
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| 301 |
|
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| 302 |
|
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| 303 |
int main(void) |
|
| 304 |
{
|
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| 305 |
|
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| 306 |
|
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| 307 |
int sending_counter = 0; |
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| 308 |
int waitingCounter=0; |
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| 309 |
int max_bom; |
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| 310 |
|
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| 311 |
/* Initialize dragonfly board */ |
|
| 312 |
|
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| 313 |
dragonfly_init(ALL_ON); |
|
| 314 |
xbee_init(); |
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| 315 |
wl_basic_init_default(); |
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| 316 |
wl_set_channel(12); |
|
| 317 |
int data_length; |
|
| 318 |
unsigned char *packet_data; |
|
| 319 |
char send_buffer[2]; |
|
| 320 |
|
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| 321 |
|
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| 322 |
robotid = get_robotid(); |
|
| 323 |
|
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| 324 |
if(wheel()>100) |
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| 325 |
{
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| 326 |
role = MASTER; |
|
| 327 |
} |
|
| 328 |
|
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| 329 |
|
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| 330 |
if(role == MASTER) {orb2_set_color(RED); set_desired_max_bom(30);}
|
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| 331 |
else orb2_set_color(BLUE); |
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| 332 |
|
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| 333 |
|
|
| 334 |
while(1) |
|
| 335 |
{
|
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| 336 |
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| 337 |
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| 338 |
bom_refresh(BOM_ALL); |
|
| 339 |
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| 340 |
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| 341 |
if(current_state != next_state) switch_state(); |
|
| 342 |
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| 343 |
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| 344 |
switch(role) |
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| 345 |
|
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| 346 |
{
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| 347 |
case MASTER: |
|
| 348 |
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| 349 |
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| 350 |
switch(current_state) |
|
| 351 |
{
|
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| 352 |
case INIT: |
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| 353 |
next_state = ID; |
|
| 354 |
break; |
|
| 355 |
case ID: |
|
| 356 |
|
|
| 357 |
waitingCounter++; |
|
| 358 |
|
|
| 359 |
|
|
| 360 |
if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
|
| 361 |
{
|
|
| 362 |
|
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| 363 |
//only add to robots seen if you haven't gotten an ACK from this robot |
|
| 364 |
if(used[packet_data[1]]==0) |
|
| 365 |
{
|
|
| 366 |
robotsRecieved++; |
|
| 367 |
used[packet_data[1]] = 1; |
|
| 368 |
|
|
| 369 |
usb_puts("Added: ");
|
|
| 370 |
usb_puti(packet_data[1]); |
|
| 371 |
usb_puts("\r\n");
|
|
| 372 |
} |
|
| 373 |
|
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| 374 |
// NEW: sends a packet to each robot it receives telling them to be done. |
|
| 375 |
send2(CIRCLE_ACTION_GOTYOU,packet_data[1]); |
|
| 376 |
} |
|
| 377 |
if(waitingCounter >= 300){
|
|
| 378 |
next_state = MAPPING; |
|
| 379 |
} |
|
| 380 |
break; |
|
| 381 |
|
|
| 382 |
case MAPPING: |
|
| 383 |
|
|
| 384 |
next_state = PLANNING; |
|
| 385 |
break; |
|
| 386 |
|
|
| 387 |
case PLANNING: |
|
| 388 |
plan3(); |
|
| 389 |
break; |
|
| 390 |
|
|
| 391 |
case SENDING: |
|
| 392 |
|
|
| 393 |
if(sending_counter++>4) // clock for switching the BOMs between the master and slave |
|
| 394 |
{
|
|
| 395 |
next_state = RECIEVING; |
|
| 396 |
sending_counter = 0; |
|
| 397 |
send2(CIRCLE_ACTION_CHANGE,target_slave); |
|
| 398 |
} |
|
| 399 |
break; |
|
| 400 |
|
|
| 401 |
case RECIEVING: |
|
| 402 |
|
|
| 403 |
if(sending_counter++>4) // clock for switching the BOMs between the master and slave |
|
| 404 |
{
|
|
| 405 |
next_state = SENDING; |
|
| 406 |
sending_counter = 0; |
|
| 407 |
send2(CIRCLE_ACTION_CHANGE,target_slave); |
|
| 408 |
} |
|
| 409 |
|
|
| 410 |
max_bom = bom_get_max(); |
|
| 411 |
//usb_puts("bom_get_max : ");
|
|
| 412 |
//usb_puti(max_bom); |
|
| 413 |
//usb_puts("\n\r");
|
|
| 414 |
|
|
| 415 |
if(max_bom == desired_max_bom) |
|
| 416 |
{
|
|
| 417 |
bom_max_counter ++; |
|
| 418 |
if(bom_max_counter>2) // only stops the slave if two consecutive boms reading give the desired bom as the max one. Filters the noise. |
|
| 419 |
{
|
|
| 420 |
send2(CIRCLE_ACTION_STOP,target_slave); |
|
| 421 |
next_state = PLANNING; |
|
| 422 |
bom_max_counter = 0; |
|
| 423 |
} |
|
| 424 |
|
|
| 425 |
} |
|
| 426 |
else bom_max_counter = 0; |
|
| 427 |
break; |
|
| 428 |
|
|
| 429 |
} |
|
| 430 |
|
|
| 431 |
break; |
|
| 432 |
|
|
| 433 |
|
|
| 434 |
|
|
| 435 |
case SLAVE: |
|
| 436 |
|
|
| 437 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_STOP && packet_data[1] == robotid) next_state = FINISH; |
|
| 438 |
|
|
| 439 |
|
|
| 440 |
|
|
| 441 |
switch(current_state) |
|
| 442 |
{
|
|
| 443 |
case INIT: |
|
| 444 |
next_state = ID; |
|
| 445 |
break; |
|
| 446 |
|
|
| 447 |
case ID: |
|
| 448 |
|
|
| 449 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_EXIST) |
|
| 450 |
{
|
|
| 451 |
centerid = packet_data[1]; |
|
| 452 |
|
|
| 453 |
send2(CIRCLE_ACTION_ACK,robotid); |
|
| 454 |
|
|
| 455 |
next_state = MAPPING; |
|
| 456 |
|
|
| 457 |
} |
|
| 458 |
break; |
|
| 459 |
|
|
| 460 |
case MAPPING: |
|
| 461 |
|
|
| 462 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_MAP && packet_data[1] == robotid) |
|
| 463 |
{
|
|
| 464 |
bom_on(); |
|
| 465 |
} |
|
| 466 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE && packet_data[1] == robotid) |
|
| 467 |
{
|
|
| 468 |
bom_off(); |
|
| 469 |
next_state = PLANNING; |
|
| 470 |
} |
|
| 471 |
|
|
| 472 |
case PLANNING: |
|
| 473 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_MOVE && packet_data[1] == robotid) |
|
| 474 |
{
|
|
| 475 |
next_state = RECIEVING; |
|
| 476 |
} |
|
| 477 |
break; |
|
| 478 |
|
|
| 479 |
case SENDING: |
|
| 480 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_CHANGE && packet_data[1] == robotid) |
|
| 481 |
next_state = RECIEVING; |
|
| 482 |
break; |
|
| 483 |
|
|
| 484 |
case RECIEVING: |
|
| 485 |
|
|
| 486 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_CHANGE && packet_data[1] == robotid) |
|
| 487 |
next_state = SENDING; |
|
| 488 |
|
|
| 489 |
if(stop) |
|
| 490 |
{
|
|
| 491 |
motor_l_set(FORWARD,0); |
|
| 492 |
motor_r_set(FORWARD,0); |
|
| 493 |
orb1_set_color(GREEN); |
|
| 494 |
} |
|
| 495 |
|
|
| 496 |
else |
|
| 497 |
{
|
|
| 498 |
max_bom = bom_get_max(); |
|
| 499 |
/*usb_puts("bom_get_max : ");
|
|
| 500 |
usb_puti(max_bom); |
|
| 501 |
usb_puts("/n/r");*/
|
|
| 502 |
|
|
| 503 |
|
|
| 504 |
if(max_bom == 8) |
|
| 505 |
{
|
|
| 506 |
orb2_set_color(BLUE); |
|
| 507 |
motor_r_set(FORWARD,180); |
|
| 508 |
motor_l_set(FORWARD,180); |
|
| 509 |
|
|
| 510 |
} |
|
| 511 |
else if(max_bom == 7 || max_bom == 6 || max_bom == 5) |
|
| 512 |
{
|
|
| 513 |
motor_l_set(FORWARD,180); |
|
| 514 |
motor_r_set(FORWARD,0); |
|
| 515 |
} |
|
| 516 |
else if(max_bom == -1); |
|
| 517 |
else |
|
| 518 |
{
|
|
| 519 |
orb2_set_color(GREEN); |
|
| 520 |
motor_l_set(FORWARD,0); |
|
| 521 |
motor_r_set(FORWARD,180); |
|
| 522 |
} |
|
| 523 |
} |
|
| 524 |
break; |
|
| 525 |
|
|
| 526 |
} |
|
| 527 |
|
|
| 528 |
break; |
|
| 529 |
} |
|
| 530 |
|
|
| 531 |
packet_data = wl_basic_do_default(&data_length); |
|
| 532 |
delay_ms(10); |
|
| 533 |
} |
|
| 534 |
|
|
| 535 |
|
|
| 536 |
return 0; |
|
| 537 |
|
|
| 538 |
|
|
| 539 |
|
|
| 540 |
|
|
| 541 |
} |
|
| 542 |
|
|
| 543 |
|
|
| 544 |
|
|
| 545 |
|
|
| 546 |
|
|
| 547 |
|
|
| 548 |
|
|
| 549 |
|
|
| 550 |
|
|
| 551 |
|
|
| 552 |
|
|
| 553 |
|
|
| 554 |
|
|
| 555 |
|
|
| 556 |
|
|
| 557 |
|
|
| 558 |
|
|
| 559 |
|
|
| 560 |
|
|
| 561 |
|
|
| 562 |
|
|
| 563 |
|
|
| 564 |
|
|
| 565 |
|
|
| 566 |
|
|
| 567 |
|
|
| 568 |
|
|
| 569 |
|
|
| 570 |
|
|
| 571 |
|
|
| 572 |
|
|
| 573 |
|
|
| 574 |
|
|
| 575 |
|
|
| 576 |
/* |
|
| 577 |
|
|
| 578 |
|
|
| 579 |
// Code working for a single slave orbiting around the master, with only one direction (tested on 07.04.2010) |
|
| 580 |
|
|
| 581 |
|
|
| 582 |
#include <dragonfly_lib.h> |
|
| 583 |
#include <wl_basic.h> |
|
| 584 |
#include<encoders.h> |
|
| 585 |
|
|
| 586 |
|
|
| 6 | 587 |
int master = 0; |
| 7 | 588 |
int sending = 0; |
| 8 | 589 |
int stop = 0; |
| ... | ... | |
| 59 | 640 |
|
| 60 | 641 |
int sending_counter = 0; |
| 61 | 642 |
|
| 62 |
/* Initialize dragonfly board */
|
|
| 643 |
// Initialize dragonfly board
|
|
| 63 | 644 |
|
| 64 | 645 |
dragonfly_init(ALL_ON); |
| 65 | 646 |
xbee_init(); |
| ... | ... | |
| 70 | 651 |
char send_buffer[2]; |
| 71 | 652 |
|
| 72 | 653 |
|
| 654 |
if(wheel()>100) |
|
| 655 |
{
|
|
| 656 |
master = 1; |
|
| 657 |
} |
|
| 658 |
|
|
| 659 |
|
|
| 73 | 660 |
if(master) {orb1_set_color(RED); set_desired_max_bom(30);}
|
| 74 | 661 |
else orb1_set_color(BLUE); |
| 75 | 662 |
|
| ... | ... | |
| 151 | 738 |
else |
| 152 | 739 |
{
|
| 153 | 740 |
int max_bom = bom_get_max(); |
| 154 |
/*usb_puts("bom_get_max : ");
|
|
| 155 |
usb_puti(max_bom); |
|
| 156 |
usb_puts("/n/r");*/
|
|
| 741 |
|
|
| 157 | 742 |
|
| 158 | 743 |
|
| 159 | 744 |
if(max_bom == 8) |
| ... | ... | |
| 197 | 782 |
|
| 198 | 783 |
|
| 199 | 784 |
|
| 785 |
*/ |
|
| 200 | 786 |
|
| 201 |
|
|
| 202 |
|
|
| trunk/code/behaviors/formation_control/circle_spacing/Makefile | ||
|---|---|---|
| 11 | 11 |
USE_WIRELESS = 1 |
| 12 | 12 |
|
| 13 | 13 |
# com1 = serial port. Use lpt1 to connect to parallel port. |
| 14 |
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM7:'; else echo '/dev/ttyUSB0'; fi)
|
|
| 14 |
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
|
|
| 15 | 15 |
|
| 16 | 16 |
else |
| 17 | 17 |
COLONYROOT := ../$(COLONYROOT) |
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