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.
wl_defs.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* 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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* @file wl_defs.h |
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* @brief Definitions for Wireless |
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* |
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* Contains definitions for wireless packet groups, packet types, |
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* debugging information, etc. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club |
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**/ |
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#ifndef WL_DEFS_H |
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#define WL_DEFS_H |
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//comment out this line if using a computer hooked up to an xbee |
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//#define ROBOT |
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//uncomment this line for debug information |
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#define WL_DEBUG |
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//#define WL_DEBUG
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// Packet Groups and Types |
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#define WL_TOKEN_PASS 1 |
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#define WL_TOKEN_BOM_ON 2 |
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#define WL_TOKEN_INTERRUPT_REQUEST 3 |
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#define WL_TOKEN_INTERRUPT_PASS 4 |
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#define WL_TOKEN_JOIN 5 |
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#define WL_TOKEN_JOIN_ACCEPT 6 |
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#define WL_TOKEN_JOIN 3 |
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#define WL_TOKEN_JOIN_ACCEPT 4 |
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// timing constants |
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#ifndef FIREFLY |
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#define BOM_DELAY 100 |
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#define DEATH_DELAY 3 |
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#else |
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#define BOM_DELAY 200 |
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#endif |
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#define DEATH_DELAY 4 |
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#define JOIN_DELAY 8 |
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// Recharging group |
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#endif |
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#endif |
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