Revision 337
Minor updates to recharging, but the charging board no longer appears to tell us when we're done.
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wireless.h | ||
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1 | 1 |
/** |
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
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15 |
* |
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16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
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* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
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25 |
|
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26 |
/** |
|
2 | 27 |
* @file wireless.h |
3 | 28 |
* @brief Contains definitions for the wireless library. |
4 | 29 |
* |
... | ... | |
93 | 118 |
} PacketGroupHandler; |
94 | 119 |
|
95 | 120 |
/**@brief Initialize the wireless library **/ |
96 |
void wl_init(void);
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|
121 |
int wl_init(void);
|
|
97 | 122 |
/**@brief Uninitialize the wireless library **/ |
98 | 123 |
void wl_terminate(void); |
99 | 124 |
/**@brief Perform wireless library functionality **/ |
... | ... | |
125 | 150 |
/**@brief Get the channel we are using **/ |
126 | 151 |
int wl_get_channel(void); |
127 | 152 |
/**@brief Get the 16-bit address of the XBee module **/ |
128 |
unsigned int wl_get_xbee_id(void); |
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153 |
int wl_get_xbee_id(void); |
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154 |
/**@brief Set the com port on a computer, undefined on the robot.**/ |
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void wl_set_com_port(char* port); |
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129 | 156 |
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130 | 157 |
/** @} **/ // end defgroup |
131 | 158 |
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branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/xbee.c | ||
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1 |
/** |
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2 |
* Copyright (c) 2007 Colony Project |
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3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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|
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/** |
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* @file xbee.c |
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* @brief XBee Interface |
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* |
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* Implementation of low level communication with the XBee in API mode. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club |
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**/ |
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1 | 35 |
#include "xbee.h" |
2 | 36 |
#include "wl_defs.h" |
3 | 37 |
|
... | ... | |
7 | 41 |
#include <unistd.h> |
8 | 42 |
#include <pthread.h> |
9 | 43 |
#include <errno.h> |
44 |
#include <termios.h> |
|
10 | 45 |
|
11 | 46 |
#else |
12 | 47 |
|
... | ... | |
19 | 54 |
#include <stdlib.h> |
20 | 55 |
#include <string.h> |
21 | 56 |
|
22 |
#include <queue.h> |
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23 |
|
|
24 | 57 |
#define XBEE_FRAME_START 0x7E |
25 | 58 |
|
26 | 59 |
/*Frame Types*/ |
... | ... | |
49 | 82 |
void xbee_enter_command_mode(void); |
50 | 83 |
void xbee_exit_command_mode(void); |
51 | 84 |
void xbee_enter_api_mode(void); |
85 |
void xbee_exit_api_mode(void); |
|
52 | 86 |
void xbee_wait_for_string(char* s, int len); |
53 | 87 |
void xbee_wait_for_ok(void); |
54 | 88 |
|
... | ... | |
67 | 101 |
/*Global Variables*/ |
68 | 102 |
|
69 | 103 |
#ifndef ROBOT |
104 |
char* xbee_com_port = XBEE_PORT_DEFAULT; |
|
70 | 105 |
int xbee_stream; |
71 | 106 |
pthread_t* xbee_listen_thread; |
72 | 107 |
#endif |
73 | 108 |
|
74 |
Queue* xbee_queue; |
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109 |
// TODO: is this a good size? |
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110 |
#define XBEE_BUFFER_SIZE 256 |
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111 |
// a buffer for data received from the XBee |
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112 |
char arrival_buf[XBEE_BUFFER_SIZE]; |
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113 |
// location of last unread byte in buffer |
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114 |
volatile int buffer_last = 0; |
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115 |
// first unread byte in buffer |
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volatile int buffer_first = 0; |
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75 | 117 |
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118 |
|
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76 | 119 |
//used to store packets as they are read |
77 | 120 |
char xbee_buf[128]; |
78 | 121 |
int currentBufPos = 0; |
... | ... | |
90 | 133 |
|
91 | 134 |
/** |
92 | 135 |
* Interrupt for the robot. Adds bytes received from the xbee |
93 |
* to the queue.
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* to the buffer.
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94 | 137 |
**/ |
95 | 138 |
#ifndef FIREFLY |
96 | 139 |
ISR(USART1_RX_vect) |
97 | 140 |
{ |
98 | 141 |
char c = UDR1; |
99 |
queue_add(xbee_queue, (void*)(int)c); |
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142 |
arrival_buf[buffer_last] = c; |
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143 |
int t = buffer_last + 1; |
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144 |
if (t == XBEE_BUFFER_SIZE) |
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145 |
t = 0; |
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146 |
if (t == buffer_first) |
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147 |
{ |
|
148 |
WL_DEBUG_PRINT("Out of space in buffer.\n"); |
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149 |
} |
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150 |
buffer_last = t; |
|
100 | 151 |
} |
101 | 152 |
#else |
102 | 153 |
SIGNAL(SIG_USART0_RECV) |
103 | 154 |
{ |
104 | 155 |
char c = UDR0; |
105 |
queue_add(xbee_queue, (void*)(int)c); |
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156 |
arrival_buf[buffer_last] = c; |
|
157 |
int t = buffer_last + 1; |
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158 |
if (t == XBEE_BUFFER_SIZE) |
|
159 |
t = 0; |
|
160 |
if (t == buffer_first) |
|
161 |
{ |
|
162 |
WL_DEBUG_PRINT("Out of space in buffer.\n"); |
|
163 |
} |
|
164 |
buffer_last = t; |
|
106 | 165 |
} |
107 | 166 |
#endif |
108 | 167 |
|
... | ... | |
117 | 176 |
while (1) |
118 | 177 |
{ |
119 | 178 |
xbee_read(&c, 1); |
120 |
queue_add(xbee_queue, (void*)(int)c); |
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179 |
arrival_buf[buffer_last] = c; |
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180 |
int t = buffer_last + 1; |
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181 |
if (t == XBEE_BUFFER_SIZE) |
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182 |
t = 0; |
|
183 |
if (t == buffer_first) |
|
184 |
{ |
|
185 |
WL_DEBUG_PRINT("Out of space in buffer.\n"); |
|
186 |
} |
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187 |
buffer_last = t; |
|
121 | 188 |
} |
122 | 189 |
return 0; |
123 | 190 |
} |
... | ... | |
126 | 193 |
|
127 | 194 |
/** |
128 | 195 |
* Initializes the XBee library so that other functions may be used. |
129 |
* |
|
130 |
* @param pan_id the PAN to join initially. Use XBEE_PAN_DEFAULT |
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131 |
* to leave the PAN as it is initially. |
|
132 | 196 |
**/ |
133 |
void xbee_lib_init(void)
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197 |
int xbee_lib_init(void)
|
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134 | 198 |
{ |
135 |
xbee_queue = queue_create(); |
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136 |
|
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199 |
arrival_buf[0] = 'A'; |
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200 |
arrival_buf[1] = 'A'; |
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201 |
arrival_buf[2] = 'A'; |
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137 | 202 |
#ifdef ROBOT |
138 | 203 |
|
139 | 204 |
//enable the receiving interrupt |
... | ... | |
144 | 209 |
#endif |
145 | 210 |
sei(); |
146 | 211 |
#else |
147 |
xbee_stream = open(XBEE_PORT, O_RDWR); |
|
148 |
if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0) |
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149 |
xbee_stream = open(XBEE_PORT2, O_RDWR); |
|
150 |
if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0) |
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212 |
printf("Connecting to port %s.\n", xbee_com_port); |
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213 |
xbee_stream = open(xbee_com_port, O_RDWR); |
|
214 |
if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/) |
|
151 | 215 |
{ |
152 |
printf("Failed to open connection to XBee.\r\n");
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153 |
exit(0);
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216 |
printf("Failed to open connection to XBee on port %s\r\n", xbee_com_port);
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217 |
return -1;
|
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154 | 218 |
} |
155 |
lockf(xbee_stream, F_LOCK, 0); |
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156 | 219 |
|
220 |
// set baud rate, etc. correctly |
|
221 |
struct termios options; |
|
222 |
|
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223 |
tcgetattr(xbee_stream, &options); |
|
224 |
cfsetispeed(&options, B9600); |
|
225 |
cfsetospeed(&options, B9600); |
|
226 |
options.c_iflag &= ~ICRNL; |
|
227 |
options.c_oflag &= ~OCRNL; |
|
228 |
options.c_cflag |= (CLOCAL | CREAD); |
|
229 |
options.c_cflag &= ~PARENB; |
|
230 |
options.c_cflag &= ~CSTOPB; |
|
231 |
options.c_cflag &= ~CSIZE; |
|
232 |
options.c_cflag |= CS8; |
|
233 |
options.c_lflag &= ~ICANON; |
|
234 |
options.c_cc[VMIN] = 1; |
|
235 |
options.c_cc[VTIME] = 50; |
|
236 |
|
|
237 |
if (tcsetattr(xbee_stream, TCSANOW, &options)) |
|
238 |
{ |
|
239 |
fprintf(stderr, "Error setting attributes.\n"); |
|
240 |
return -1; |
|
241 |
} |
|
242 |
|
|
243 |
//lockf(xbee_stream, F_LOCK, 0); |
|
244 |
|
|
157 | 245 |
xbee_listen_thread = |
158 | 246 |
(pthread_t*)malloc(sizeof(pthread_t)); |
247 |
if (xbee_listen_thread == NULL) |
|
248 |
{ |
|
249 |
fprintf(stderr, "%s: Malloc failed.\n", __FUNCTION__); |
|
250 |
return -1; |
|
251 |
} |
|
159 | 252 |
|
160 |
int ret = pthread_create(xbee_listen_thread, NULL,
|
|
253 |
int ret = pthread_create(xbee_listen_thread, NULL, |
|
161 | 254 |
listen_to_xbee, NULL); |
162 | 255 |
if (ret) |
163 | 256 |
{ |
164 |
printf("Failed to create listener thread.\r\n");
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|
165 |
exit(0);
|
|
257 |
fprintf(stderr, "Failed to create listener thread.\r\n");
|
|
258 |
return -1;
|
|
166 | 259 |
} |
260 |
|
|
167 | 261 |
#endif |
168 | 262 |
xbee_enter_command_mode(); |
169 | 263 |
xbee_enter_api_mode(); |
... | ... | |
172 | 266 |
|
173 | 267 |
//wait to return until the address is set |
174 | 268 |
while (xbee_address == 0) xbee_get_packet(NULL); |
269 |
|
|
270 |
|
|
271 |
return 0; |
|
175 | 272 |
} |
176 | 273 |
|
177 | 274 |
/** |
... | ... | |
186 | 283 |
lockf(xbee_stream, F_ULOCK, 0); |
187 | 284 |
close(xbee_stream); |
188 | 285 |
#endif |
189 |
queue_destroy(xbee_queue); |
|
190 | 286 |
} |
191 | 287 |
|
192 | 288 |
/** |
... | ... | |
270 | 366 |
} |
271 | 367 |
|
272 | 368 |
/** |
369 |
* Exit API mode. (warning - does not check for response) |
|
370 |
**/ |
|
371 |
void xbee_exit_api_mode() |
|
372 |
{ |
|
373 |
xbee_send_string("ATAP 0\r"); |
|
374 |
} |
|
375 |
|
|
376 |
/** |
|
273 | 377 |
* Wait until the string "OK\r" is received from the XBee. |
274 | 378 |
**/ |
275 | 379 |
void xbee_wait_for_ok() |
... | ... | |
289 | 393 |
char* curr = s; |
290 | 394 |
while (curr - s < len) |
291 | 395 |
{ |
292 |
if (queue_is_empty(xbee_queue)) |
|
396 |
// check if buffer is empty |
|
397 |
if (buffer_last == buffer_first) |
|
293 | 398 |
continue; |
294 |
char c = (char)(int)queue_remove(xbee_queue); |
|
399 |
char c = arrival_buf[buffer_first++]; |
|
400 |
if (buffer_first == XBEE_BUFFER_SIZE) |
|
401 |
buffer_first = 0; |
|
295 | 402 |
if (c == *curr) |
296 | 403 |
curr++; |
297 | 404 |
else |
... | ... | |
499 | 606 |
if (currentBufPos == 0) |
500 | 607 |
{ |
501 | 608 |
do |
502 |
if (queue_is_empty(xbee_queue)) |
|
609 |
{ |
|
610 |
if (buffer_first == XBEE_BUFFER_SIZE) |
|
611 |
buffer_first = 0; |
|
612 |
// check if buffer is empty |
|
613 |
if (buffer_first == buffer_last) |
|
503 | 614 |
return -1; |
504 |
while ((char)(int)queue_remove(xbee_queue) != XBEE_FRAME_START); |
|
615 |
} |
|
616 |
while (arrival_buf[buffer_first++] != XBEE_FRAME_START); |
|
617 |
if (buffer_first == XBEE_BUFFER_SIZE) |
|
618 |
buffer_first = 0; |
|
505 | 619 |
xbee_buf[0] = XBEE_FRAME_START; |
506 | 620 |
currentBufPos++; |
507 | 621 |
} |
... | ... | |
523 | 637 |
return -1; |
524 | 638 |
} |
525 | 639 |
} |
526 |
if (queue_is_empty(xbee_queue)) |
|
640 |
// check if buffer is empty |
|
641 |
if (buffer_first == buffer_last) |
|
527 | 642 |
return -1; |
528 |
xbee_buf[currentBufPos++] = (char)(int)queue_remove(xbee_queue); |
|
643 |
xbee_buf[currentBufPos++] = arrival_buf[buffer_first++]; |
|
644 |
if (buffer_first == XBEE_BUFFER_SIZE) |
|
645 |
buffer_first = 0; |
|
529 | 646 |
} |
530 | 647 |
|
531 | 648 |
currentBufPos = 0; |
... | ... | |
748 | 865 |
return xbee_address; |
749 | 866 |
} |
750 | 867 |
|
868 |
#ifndef ROBOT |
|
869 |
void xbee_set_com_port(char* port) |
|
870 |
{ |
|
871 |
xbee_com_port = port; |
|
872 |
} |
|
873 |
#endif |
|
874 |
|
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/xbee.h | ||
---|---|---|
1 | 1 |
/** |
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
2 | 27 |
* @file xbee.h |
3 | 28 |
* @brief Contains definitions for using the XBee |
4 | 29 |
* |
... | ... | |
18 | 43 |
* Also, a backup port if the other is used. |
19 | 44 |
**/ |
20 | 45 |
#ifndef ROBOT |
21 |
#ifndef XBEE_PORT |
|
22 |
#define XBEE_PORT "/dev/ttyUSB1" |
|
46 |
#define XBEE_PORT_DEFAULT "/dev/ttyUSB1" |
|
23 | 47 |
#endif |
24 |
#define XBEE_PORT2 "/dev/ttyUSB0" |
|
25 |
#endif |
|
26 | 48 |
|
27 | 49 |
/** |
28 | 50 |
* @defgroup xbee XBee |
... | ... | |
52 | 74 |
#define XBEE_RX 0x81 |
53 | 75 |
|
54 | 76 |
/**@brief Initialize the XBee library **/ |
55 |
void xbee_lib_init(void);
|
|
77 |
int xbee_lib_init(void);
|
|
56 | 78 |
/**@brief Uninitialize the XBee library **/ |
57 | 79 |
void xbee_terminate(void); |
58 | 80 |
/**@brief Get a packet from the XBee **/ |
... | ... | |
70 | 92 |
int xbee_get_channel(void); |
71 | 93 |
/**@brief Get the XBee's 16-bit address **/ |
72 | 94 |
unsigned int xbee_get_address(void); |
95 |
/**@brief Set the com port on a computer, undefined on the robot**/ |
|
96 |
void xbee_set_com_port(char* port); |
|
73 | 97 |
|
74 | 98 |
/**@}**/ //end defgroup |
75 | 99 |
|
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/Makefile | ||
---|---|---|
202 | 202 |
AVRDUDE_PROGRAMMER = avrisp |
203 | 203 |
|
204 | 204 |
# com1 = serial port. Use lpt1 to connect to parallel port. |
205 |
AVRDUDE_PORT = /dev/ttyUSB2
|
|
205 |
AVRDUDE_PORT = /dev/ttyUSB1
|
|
206 | 206 |
# programmer connected to serial device |
207 | 207 |
|
208 | 208 |
AVRDUDE_WRITE_FLASH = -b 9600 -U flash:w:$(TARGET).hex |
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/sensor_matrix.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file sensor_matrix.c |
|
28 |
* @brief Sensor Matrix implementation |
|
29 |
* |
|
30 |
* Implementation of a sensor matrix for storing localization implementation. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
1 | 35 |
#include <stdlib.h> |
2 | 36 |
#include <stdio.h> |
3 | 37 |
#include <wl_defs.h> |
... | ... | |
65 | 99 |
* @param m the sensor matrix |
66 | 100 |
* @param id the XBee ID of the robot to add |
67 | 101 |
**/ |
68 |
void sensor_matrix_add_robot(SensorMatrix* m, unsigned int id)
|
|
102 |
void sensor_matrix_add_robot(SensorMatrix* m, int id) |
|
69 | 103 |
{ |
70 | 104 |
int i; |
71 | 105 |
if (id >= m->size) |
... | ... | |
92 | 126 |
* @param m the sensor matrix |
93 | 127 |
* @param id the XBee ID of the robot to remove |
94 | 128 |
**/ |
95 |
void sensor_matrix_remove_robot(SensorMatrix* m, unsigned int id)
|
|
129 |
void sensor_matrix_remove_robot(SensorMatrix* m, int id) |
|
96 | 130 |
{ |
97 | 131 |
int i; |
98 | 132 |
|
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wl_token_ring.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file wl_token_ring.c |
|
28 |
* @brief Token Ring Implementation |
|
29 |
* |
|
30 |
* Implementation of the token ring packet group. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
1 | 35 |
#include <wl_token_ring.h> |
2 | 36 |
|
3 | 37 |
#include <stdlib.h> |
... | ... | |
296 | 330 |
**/ |
297 | 331 |
int wl_token_get_sensor_reading(int source, int dest) |
298 | 332 |
{ |
299 |
return sensor_matrix_get_reading(sensorMatrix, source, dest); |
|
333 |
if (wl_token_is_robot_in_ring(dest) && |
|
334 |
(source == wl_get_xbee_id() || wl_token_is_robot_in_ring(source))) |
|
335 |
return sensor_matrix_get_reading(sensorMatrix, source, dest); |
|
336 |
return -1; |
|
300 | 337 |
} |
301 | 338 |
|
302 | 339 |
/** |
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/sensor_matrix.h | ||
---|---|---|
1 | 1 |
/** |
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
2 | 27 |
* @file sensor_matrix.h |
3 | 28 |
* @brief Definitions for sensor matrices |
4 | 29 |
* |
... | ... | |
31 | 56 |
/** |
32 | 57 |
* The size of the sensor matrix. |
33 | 58 |
**/ |
34 |
unsigned int size;
|
|
59 |
int size; |
|
35 | 60 |
/** |
36 | 61 |
* The matrix. Each row represents the readings of one |
37 | 62 |
* robot. |
... | ... | |
53 | 78 |
/**@brief Destroy a sensor matrix **/ |
54 | 79 |
void sensor_matrix_destroy(SensorMatrix* m); |
55 | 80 |
/**@brief Add a robot to a sensor matrix **/ |
56 |
void sensor_matrix_add_robot(SensorMatrix* m, unsigned int id);
|
|
81 |
void sensor_matrix_add_robot(SensorMatrix* m, int id); |
|
57 | 82 |
/**@brief Remove a robot from a sensor matrix **/ |
58 |
void sensor_matrix_remove_robot(SensorMatrix* m, unsigned int id);
|
|
83 |
void sensor_matrix_remove_robot(SensorMatrix* m, int id); |
|
59 | 84 |
/**@brief Set a reading in a sensor matrix **/ |
60 | 85 |
void sensor_matrix_set_reading(SensorMatrix* m, int observer, int robot, int reading); |
61 | 86 |
/**@brief Get a reading in a sensor matrix **/ |
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wl_token_ring.h | ||
---|---|---|
1 | 1 |
/** |
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
2 | 27 |
* @file wl_token_ring.h |
3 | 28 |
* @brief Declarations for the token ring packet group |
4 | 29 |
* |
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wl_error_group.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file wl_error_group.h |
|
28 |
* @brief Error Packets |
|
29 |
* |
|
30 |
* A wireless group for sending error packets. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
1 | 35 |
#include "wl_error_group.h" |
2 | 36 |
|
3 | 37 |
#include <wireless.h> |
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wl_error_group.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file wl_error_group.h |
|
28 |
* @brief Error Packets |
|
29 |
* |
|
30 |
* A packet group for sending error packets. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
1 | 35 |
#ifndef WL_ERROR_GROUP_H |
2 | 36 |
#define WL_ERROR_GROUP_H |
3 | 37 |
|
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/main.c | ||
---|---|---|
18 | 18 |
|
19 | 19 |
usb_puts("Initializing wireless.\n"); |
20 | 20 |
wl_init(); |
21 |
wl_set_channel(0xA);
|
|
21 |
wl_set_channel(0xE);
|
|
22 | 22 |
usb_puts("Wireless initialized.\n"); |
23 | 23 |
wl_token_ring_register(); |
24 | 24 |
wl_token_ring_join(); |
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wl_defs.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file wl_defs.h |
|
28 |
* @brief Definitions for Wireless |
|
29 |
* |
|
30 |
* Contains definitions for wireless packet groups, packet types, |
|
31 |
* debugging information, etc. |
|
32 |
* |
|
33 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
1 | 36 |
#ifndef WL_DEFS_H |
2 | 37 |
#define WL_DEFS_H |
3 | 38 |
|
... | ... | |
24 | 59 |
|
25 | 60 |
// timing constants |
26 | 61 |
#ifndef FIREFLY |
27 |
#define BOM_DELAY 50
|
|
62 |
#define BOM_DELAY 100
|
|
28 | 63 |
#else |
29 |
#define BOM_DELAY 100
|
|
64 |
#define BOM_DELAY 200
|
|
30 | 65 |
#endif |
31 | 66 |
|
32 | 67 |
#define DEATH_DELAY 4 |
branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wireless.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file wireless.c |
|
28 |
* @brief Wireless Library Implementation |
|
29 |
* |
|
30 |
* Implementation of the wireless library. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
1 | 35 |
#include "wireless.h" |
2 | 36 |
#include "xbee.h" |
3 | 37 |
#include <stdlib.h> |
... | ... | |
64 | 98 |
* Initializes the wireless library. Must be called before any |
65 | 99 |
* other function. |
66 | 100 |
**/ |
67 |
void wl_init()
|
|
101 |
int wl_init()
|
|
68 | 102 |
{ |
69 | 103 |
int i; |
70 | 104 |
for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
71 | 105 |
wl_packet_groups[i] = NULL; |
72 | 106 |
|
73 |
xbee_lib_init(); |
|
74 |
|
|
107 |
if (xbee_lib_init() == -1) { |
|
108 |
return -1; |
|
109 |
} |
|
110 |
|
|
75 | 111 |
//begin timeout timer |
76 | 112 |
#ifdef ROBOT |
77 | 113 |
#ifdef FIREFLY |
78 | 114 |
rtc_init(PRESCALE_DIV_256, 32, &timer_handler); |
79 | 115 |
#else |
80 |
rtc_init(HALF_SECOND, &timer_handler);
|
|
116 |
rtc_init(HALF_SECOND, &timer_handler); |
|
81 | 117 |
#endif |
82 | 118 |
#else |
83 |
|
|
119 |
|
|
84 | 120 |
//create our timer |
85 | 121 |
struct itimerval timer_val; |
86 | 122 |
struct timeval interval; |
... | ... | |
93 | 129 |
timer_val.it_value = first_time; |
94 | 130 |
if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1) |
95 | 131 |
{ |
96 |
WL_DEBUG_PRINT("Error creating a timer.\r\n");
|
|
132 |
WL_DEBUG_PRINT("Error creating a timer.\r\n"); |
|
97 | 133 |
perror("Failure's cause"); |
98 |
exit(1);
|
|
134 |
exit(1); |
|
99 | 135 |
} |
100 | 136 |
|
101 | 137 |
//create signal handler |
... | ... | |
106 | 142 |
sigaction(SIGALRM, &wl_sig_act, 0); |
107 | 143 |
sigaction(SIGINT, &wl_sig_act, 0); |
108 | 144 |
#endif |
145 |
|
|
146 |
return 0; |
|
109 | 147 |
} |
110 | 148 |
|
111 | 149 |
/** |
... | ... | |
118 | 156 |
if (wl_packet_groups[i] != NULL && |
119 | 157 |
wl_packet_groups[i]->unregister != NULL) |
120 | 158 |
wl_packet_groups[i]->unregister(); |
121 |
|
|
159 |
|
|
122 | 160 |
xbee_terminate(); |
123 | 161 |
} |
124 | 162 |
|
... | ... | |
175 | 213 |
* |
176 | 214 |
* @return the 16-bit address of the XBee module. |
177 | 215 |
**/ |
178 |
unsigned int wl_get_xbee_id()
|
|
216 |
int wl_get_xbee_id() |
|
179 | 217 |
{ |
180 | 218 |
return xbee_get_address(); |
181 | 219 |
} |
... | ... | |
242 | 280 |
void wl_send_pan_packet(char group, char type, |
243 | 281 |
char* data, int len, char frame) |
244 | 282 |
{ |
245 |
wl_send_packet(group, type, data, len, XBEE_BROADCAST,
|
|
283 |
wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
|
246 | 284 |
XBEE_OPTIONS_NONE, frame); |
247 | 285 |
} |
248 | 286 |
|
... | ... | |
295 | 333 |
|
296 | 334 |
/** |
297 | 335 |
* Unregister a packet group from the wireless library. |
298 |
*
|
|
336 |
* |
|
299 | 337 |
* @param h the packet group to remove |
300 | 338 |
**/ |
301 | 339 |
void wl_unregister_packet_group(PacketGroupHandler* h) |
... | ... | |
333 | 371 |
wl_do_timeout(); |
334 | 372 |
wl_timeout = 0; |
335 | 373 |
} |
336 |
|
|
374 |
|
|
337 | 375 |
int len = xbee_get_packet(wl_buf); |
338 | 376 |
if (len < 0)//no packet received |
339 | 377 |
return; |
340 |
|
|
378 |
|
|
341 | 379 |
if (wl_buf[0] == XBEE_TX_STATUS) |
342 | 380 |
{ |
343 | 381 |
if (len != 3) |
... | ... | |
345 | 383 |
WL_DEBUG_PRINT("Transmit Status packet should be of length 3.\r\n"); |
346 | 384 |
return; |
347 | 385 |
} |
348 |
|
|
386 |
|
|
349 | 387 |
//the first four bits are the packet group |
350 | 388 |
//this only works with under 16 groups |
351 | 389 |
int group = (int)(wl_buf[1] >> 4); |
... | ... | |
364 | 402 |
WL_DEBUG_PRINT("Purged\r\n"); |
365 | 403 |
} |
366 | 404 |
} |
367 |
|
|
405 |
|
|
368 | 406 |
if (wl_packet_groups[group] != NULL && |
369 | 407 |
wl_packet_groups[group]->handle_response != NULL) |
370 | 408 |
wl_packet_groups[group]->handle_response( |
371 | 409 |
(int)wl_buf[1] & 0x0F, success); |
372 | 410 |
return; |
373 | 411 |
} |
374 |
|
|
412 |
|
|
375 | 413 |
if (wl_buf[0] == XBEE_RX) |
376 | 414 |
{ |
377 | 415 |
if (len < 7) |
... | ... | |
379 | 417 |
WL_DEBUG_PRINT("Packet is too small.\r\n"); |
380 | 418 |
return; |
381 | 419 |
} |
382 |
|
|
420 |
|
|
383 | 421 |
int source = ((int)wl_buf[1] << 8) + ((int)wl_buf[2]); |
384 |
|
|
422 |
|
|
385 | 423 |
/* |
386 | 424 |
//unused for now |
387 | 425 |
int signalStrength = wl_buf[3]; |
388 | 426 |
//1 for Address broadcast, 2 for PAN broadcast |
389 | 427 |
int options = wl_buf[4]; |
390 | 428 |
*/ |
391 |
|
|
429 |
|
|
392 | 430 |
int group = wl_buf[5]; |
393 | 431 |
int type = wl_buf[6]; |
394 | 432 |
int packetLen = len - 7; |
395 |
|
|
433 |
|
|
396 | 434 |
if (wl_packet_groups[group] != NULL |
397 | 435 |
&& wl_packet_groups[group]->handle_receive != NULL) |
398 |
wl_packet_groups[group]->handle_receive(type, source,
|
|
436 |
wl_packet_groups[group]->handle_receive(type, source, |
|
399 | 437 |
wl_buf + 7, packetLen); |
400 | 438 |
return; |
401 | 439 |
} |
402 |
|
|
440 |
|
|
403 | 441 |
WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n"); |
404 | 442 |
return; |
405 | 443 |
} |
406 | 444 |
|
445 |
|
|
446 |
#ifndef ROBOT |
|
447 |
void wl_set_com_port(char* port) |
|
448 |
{ |
|
449 |
xbee_set_com_port(port); |
|
450 |
} |
|
451 |
#endif |
|
452 |
|
branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/homing.c | ||
---|---|---|
1 | 1 |
#include "homing.h" |
2 | 2 |
#include "recharge_defs.h" |
3 | 3 |
|
4 |
#include <serial.h> |
|
5 |
|
|
4 | 6 |
// values for homing sensor readings |
5 | 7 |
#define LEFT_LOW 6 |
6 | 8 |
#define LEFT_HIGH 8 |
branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/main.c | ||
---|---|---|
12 | 12 |
int main(void) |
13 | 13 |
{ |
14 | 14 |
dragonfly_init(ALL_ON); |
15 |
//range_init();
|
|
16 |
//orb_enable();
|
|
15 |
range_init(); |
|
16 |
orb_enable(); |
|
17 | 17 |
usb_puts("Turned on!\n"); |
18 | 18 |
wl_init(); |
19 | 19 |
usb_puts("Wireless initialized!\n"); |
20 |
wl_set_channel(0xA);
|
|
20 |
wl_set_channel(0xE);
|
|
21 | 21 |
//orb_set_color(YELLOW); |
22 | 22 |
wl_token_ring_register(); |
23 | 23 |
//wl_token_ring_set_bom_functions(do_nothing2, do_nothing2, get_nothing2); |
24 | 24 |
wl_token_ring_join(); |
25 | 25 |
//usb_puts("Wireless initialized.\n"); |
26 |
//recharge_init();
|
|
26 |
recharge_init(); |
|
27 | 27 |
//usb_puts("Recharging initialized.\n"); |
28 |
run_around_init(); |
|
28 |
//run_around_init();
|
|
29 | 29 |
while (1) |
30 | 30 |
{ |
31 | 31 |
wl_do(); |
32 |
int i; |
|
33 |
for (i = 6; i > 0; i--) |
|
34 |
{ |
|
35 |
usb_puti(analog_get8(i)); |
|
36 |
usb_putc(' '); |
|
37 |
} |
|
38 |
usb_putc('\n'); |
|
39 |
//int charging = recharge_do(); |
|
32 |
int charging = recharge_do(); |
|
40 | 33 |
//if (!charging) |
41 | 34 |
//{ |
42 | 35 |
//analog8(IR1); |
branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/smart_run_around_fsm.c | ||
---|---|---|
55 | 55 |
temp=range_read_distance(IR5); |
56 | 56 |
d5=(temp == -1) ? d5 : temp; |
57 | 57 |
|
58 |
usb_puti(d1); |
|
59 |
usb_putc(' '); |
|
60 |
usb_puti(d2); |
|
61 |
usb_putc(' '); |
|
62 |
usb_puti(d3); |
|
63 |
usb_putc('\n'); |
|
64 |
|
|
65 | 58 |
//If the crazy count is in it's >>3 range, it acts crazy. |
66 | 59 |
if(crazy_count<=(CRAZY_MAX>>3)) |
67 | 60 |
{ |
branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/smart_run_around_fsm.h | ||
---|---|---|
16 | 16 |
#define BACKUP_MAX 20 |
17 | 17 |
#define CRAZY_MAX 200 //The number of counts between "crazy moments" |
18 | 18 |
#define STRAIT_SPEED 185 //The speed when going strait or backing up. |
19 |
#define TURN_CONSTANT 2
|
|
19 |
#define TURN_CONSTANT 4
|
|
20 | 20 |
#define PCONTROL_CRAZY_LIMIT 80 |
21 | 21 |
|
22 | 22 |
int avoid_state; /*State machine variable.*/ |
branches/autonomous_recharging/code/projects/libwireless/test/test.c | ||
---|---|---|
12 | 12 |
{ |
13 | 13 |
int robot = atoi(argv[1]); |
14 | 14 |
wl_init(); |
15 |
wl_set_channel(0xA);
|
|
15 |
wl_set_channel(0xE);
|
|
16 | 16 |
printf("Wireless initialized.\n"); |
17 | 17 |
printf("Packet groups initialized.\n"); |
18 | 18 |
|
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