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.
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 |
* |
... | ... | |
10 | 35 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
11 | 36 |
**/ |
12 | 37 |
|
38 |
#ifndef XBEE_H |
|
39 |
#define XBEE_H |
|
40 |
|
|
13 | 41 |
/** |
42 |
* The port to use the XBee from on the computer. |
|
43 |
* Also, a backup port if the other is used. |
|
44 |
**/ |
|
45 |
#ifndef ROBOT |
|
46 |
#define XBEE_PORT_DEFAULT "/dev/ttyUSB1" |
|
47 |
#endif |
|
48 |
|
|
49 |
/** |
|
14 | 50 |
* @defgroup xbee XBee |
15 | 51 |
* @brief Interface with the XBee module |
16 | 52 |
* |
... | ... | |
38 | 74 |
#define XBEE_RX 0x81 |
39 | 75 |
|
40 | 76 |
/**@brief Initialize the XBee library **/ |
41 |
void xbee_lib_init(void);
|
|
77 |
int xbee_lib_init(void);
|
|
42 | 78 |
/**@brief Uninitialize the XBee library **/ |
43 | 79 |
void xbee_terminate(void); |
44 | 80 |
/**@brief Get a packet from the XBee **/ |
... | ... | |
56 | 92 |
int xbee_get_channel(void); |
57 | 93 |
/**@brief Get the XBee's 16-bit address **/ |
58 | 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); |
|
59 | 97 |
|
60 | 98 |
/**@}**/ //end defgroup |
61 | 99 |
|
100 |
#endif |
Also available in: Unified diff