Revision 340
We're ready to do a two robot autonomous recharging video with run around, aside from some docking problems. There seem to be wireless issues with three robots, however.
| main.c | ||
|---|---|---|
| 18 | 18 |
wl_init(); |
| 19 | 19 |
usb_puts("Wireless initialized!\n");
|
| 20 | 20 |
wl_set_channel(0xE); |
| 21 |
//orb_set_color(YELLOW); |
|
| 22 | 21 |
wl_token_ring_register(); |
| 23 |
//wl_token_ring_set_bom_functions(do_nothing2, do_nothing2, get_nothing2); |
|
| 24 | 22 |
wl_token_ring_join(); |
| 25 |
//usb_puts("Wireless initialized.\n");
|
|
| 26 | 23 |
recharge_init(); |
| 27 |
//usb_puts("Recharging initialized.\n");
|
|
| 28 |
//run_around_init();
|
|
| 24 |
usb_puts("Recharging initialized.\n");
|
|
| 25 |
run_around_init(); |
|
| 29 | 26 |
while (1) |
| 30 | 27 |
{
|
| 31 | 28 |
wl_do(); |
| 32 | 29 |
int charging = recharge_do(); |
| 33 |
//if (!charging) |
|
| 34 |
//{
|
|
| 35 |
//analog8(IR1); |
|
| 36 |
//run_around_FSM(); |
|
| 37 |
//} |
|
| 30 |
if (!charging) |
|
| 31 |
{
|
|
| 32 |
run_around_FSM(); |
|
| 33 |
} |
|
| 38 | 34 |
} |
| 39 | 35 |
|
| 40 | 36 |
return 0; |
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