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Revision 519

Added by Eugene Marinelli about 16 years ago

fixed robot request position code

View differences:

colonet_dragonfly.c
31 31 
static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf);
32 32 
static unsigned int two_bytes_to_int(char high, char low);
33 33 
static void colonet_handle_receive(char type, int source, unsigned char* packet, int length);
34 
static void request_abs_position(void);
35 34 
static void move_to_position_routine(int x, int y);
36 35 

  		




  37
  36
  
    
static PacketGroupHandler colonet_pgh;


  		




  ......




  69
  68
  
    
  return 0;


  		




  70
  69
  
    
}


  		




  71
  70
  
    

  		




  72
  
  
    
static void request_abs_position() {


  		




  73
  
  
    
  if (server_xbee_id != -1) { // if -1, then we don't know the server's xbee id yet.


  		




  74
  
  
    
    ColonetRobotServerPacket pkt;


  		




  75
  
  
    
    pkt.client_id = -1;


  		




  76
  
  
    
    pkt.msg_code = ROBOT_REQUEST_POSITION_FROM_SERVER;


  		




  77
  
  
    
    wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), server_xbee_id, 0);


  		




  78
  
  
    
  }


  		




  
  71
  
    
void get_absolute_position(int* x, int* y) {


  		




  
  72
  
    
  *x = robot_x;


  		




  
  73
  
    
  *y = robot_y;


  		




  79
  74
  
    
}


  		




  80
  75
  
    

  		




  
  76
  
    
void request_abs_position() {


  		




  
  77
  
    
  //usb_puts("requesting_abs_position\n");


  		




  
  78
  
    

  		




  
  79
  
    
  ColonetRobotServerPacket pkt;


  		




  
  80
  
    
  pkt.client_id = -1;


  		




  
  81
  
    
  pkt.msg_code = ROBOT_REQUEST_POSITION_FROM_SERVER;


  		




  
  82
  
    
  wl_send_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), 0);


  		




  
  83
  
    
}


  		




  
  84
  
    

  		




  81
  85
  
    
static void move_to_position_routine(int x, int y) {


  		




  82
  86
  
    
  /* TODO emarinel - control algorithm */


  		




  83
  87
  
    
  motor1_set(1, 200);


  		




  ......




  194
  198
  
    
      robot_x = int_args[0];


  		




  195
  199
  
    
      robot_y = int_args[1];


  		




  196
  200
  
    

  		




  197
  
  
    
      sprintf(buf, "my position is: %d %d\n", robot_x, robot_y);


  		




  
  201
  
    
      sprintf(buf, "pos is: %d %d\n", robot_x, robot_y);


  		




  198
  202
  
    
      usb_puts(buf);


  		




  199
  203
  
    
      break;


  		




  200
  204
  
    

  		












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