root / trunk / code / projects / colonet / robot / colonet_dragonfly / colonet_dragonfly.c @ 521
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/** @file colonet.c
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* @brief Colonet library for DRAGONFLY colony robots
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*
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* @author Eugene Marinelli
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* @date 10/10/07
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*
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* @bug Handler registration not tested
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* @bug Request reponding not implemented - only accepts commands.
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*/
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#include <assert.h> |
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#include <dragonfly_lib.h> |
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#include <battery.h> |
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#include <string.h> |
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#include <wireless.h> |
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#include <colonet_dragonfly.h> |
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#define TARGET_POSITION_STOP_DISTANCE_THRESHOLD 15 |
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typedef struct { |
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unsigned char msgId; //is this necessary? |
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void (*handler)(void); |
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} UserHandler; |
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/* Globals (internal) */
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static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL];
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static int robot_x, robot_y; |
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static int updated_robot_pos_ready; |
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/* Internal function prototypes */
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static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf); |
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static unsigned int two_bytes_to_int(char high, char low); |
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static void colonet_handle_receive(char type, int source, unsigned char* packet, int length); |
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static void move_to_position_routine(int x, int y); |
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static PacketGroupHandler colonet_pgh;
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/* Public functions */
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int colonet_init() {
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colonet_pgh.groupCode = COLONET_PACKET_GROUP_ID; |
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colonet_pgh.timeout_handler = NULL;
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colonet_pgh.handle_response = NULL;
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colonet_pgh.handle_receive = colonet_handle_receive; |
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colonet_pgh.unregister = NULL;
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// TODO this should return an error if wl_init has not been called yet.
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wl_register_packet_group(&colonet_pgh); |
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robot_x = 0;
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robot_y = 0;
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updated_robot_pos_ready = 1;
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return 0; |
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} |
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/* colonet_add_message
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* Adds a user-defined message
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*/
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int colonet_add_message(unsigned char msgId, void (*handler)(void)) { |
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if(msgId < USER_DEFINED_MSG_ID_START /* || msgId > USER_DEFINED_MSG_ID_END */){ |
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return -1; |
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} |
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/* Register this function in the array */
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user_handlers[msgId-USER_DEFINED_MSG_ID_START].msgId = msgId; |
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user_handlers[msgId-USER_DEFINED_MSG_ID_START].handler = handler; |
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return 0; |
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} |
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void get_absolute_position(int* x, int* y) { |
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*x = robot_x; |
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*y = robot_y; |
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} |
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void request_abs_position() {
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//usb_puts("requesting_abs_position\n");
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ColonetRobotServerPacket pkt; |
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pkt.client_id = -1;
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pkt.msg_code = ROBOT_REQUEST_POSITION_FROM_SERVER; |
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wl_send_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), 0); |
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} |
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static int distsquared(int x1, int y1,int x2, int y2) { |
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return (x2-x1)*(x2-x1) + (y2-y1)*(y2-y1);
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} |
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/* cubic approximation of arctan. */
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static void arctan(float t) { |
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float t3 = t*t*t;
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return -0.039 * t3 + 0.74 * t + 0.00011; |
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} |
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static void move_to_position_routine(int target_x, int target_y) { |
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int last_x, last_y;
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do {
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while (!updated_robot_pos_ready) { // ghetto condition variable |
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wl_do(); |
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} |
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int x_error = target_x - robot_x
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int y_error = target_y - robot_y;
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int x_diff = robot_x - last_x;
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int y_diff = robot_y - last_y;
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//float dir = arctan(y/x);
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int sum_x =
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last_x = robot_x; |
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last_y = robot_y; |
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motor1_set(1, 200); |
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motor2_set(1, 200); |
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while (distsquared(robot_x, robot_y, target_x, target_y) >
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TARGET_POSITION_STOP_DISTANCE_THRESHOLD*TARGET_POSITION_STOP_DISTANCE_THRESHOLD); |
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} |
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/* Private functions */
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/** @brief Handles colonet packets. Should be called by parse_buffer
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* when it is determined that a colonet message has been received.
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*
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* @param robot_id The robot id
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* @param pkt_buf The packet buffer (e.g. wl_buf)
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*
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* @return -1 on error (invalid msgId), 0 on success
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*/
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static void colonet_handle_receive(char type, int wl_source, unsigned char* packet, int length) { |
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ColonetRobotServerPacket pkt; |
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unsigned char* args; //up to 7 char args |
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unsigned int int_args[3]; //up to 3 int (2-byte) args |
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usb_puts("Packet received.\n");
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char buf[40]; |
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sprintf(buf, "length=%d\n", length);
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int i;
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for (i = 0; i < length; i++) { |
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sprintf(buf, "%d: %d ", i, packet[i]);
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usb_puts(buf); |
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} |
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usb_puts("\n");
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//printf("received message from %d of length %d\n", source, length);
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///assert(length == sizeof(ColonetRobotServerPacket));
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packet_string_to_struct(&pkt, packet); |
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char buf2[40]; |
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sprintf(buf2, "client_id:%d, msg_code:%d\n", pkt.client_id, pkt.msg_code);
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usb_puts(buf2); |
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args = pkt.data; |
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int_args[0] = two_bytes_to_int(args[0], args[1]); |
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int_args[1] = two_bytes_to_int(args[2], args[3]); |
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int_args[2] = two_bytes_to_int(args[4], args[5]); |
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if (type == COLONET_REQUEST) {
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usb_puts("type is colonet request\n");
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/* TODO - send back data! */
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switch (pkt.msg_code) {
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//Sharp
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case READ_DISTANCE:
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break;
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case LINEARIZE_DISTANCE:
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break;
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case LOG_DISTANCE:
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break;
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//Analog
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case CALL_ANALOG8:
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break;
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case CALL_ANALOG10:
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break;
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case WHEEL:
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break;
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case BATTERY:
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sprintf((char*)pkt.data, "%d", (int)battery8()); |
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wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), wl_source, 0); |
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break;
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//BOM
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case GETMAXBOM:
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break;
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//Dio
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case DIGITAL_INPUT:
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break;
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case BUTTON1_READ:
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break;
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case BUTTON2_READ:
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break;
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//Bumper
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case DETECT_BUMP:
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break;
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} |
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} else if (type == COLONET_COMMAND) { |
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usb_puts("colonet command...\n");
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/* TODO uncomment this stuff */
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/* if (pkt.msg_code >= USER_DEFINED_MSG_ID_START && */
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/* pkt.msg_code <= USER_DEFINED_MSG_ID_END) { */
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/* if (user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler) { */
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/* /\* Call the user's handler function if it the function's address */
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/* * is non-zero (has been set) *\/ */
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/* user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); */
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/* } */
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/* } */
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switch (pkt.msg_code) {
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/* default: */
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/* printf("%s: Error - message code %d not implemented\n", __FUNCTION__, */
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/* pkt.msg_code); */
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/* break; */
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case SERVER_REPORT_POSITION_TO_ROBOT:
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robot_x = int_args[0];
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robot_y = int_args[1];
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updated_robot_pos_ready; |
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sprintf(buf, "pos is: %d %d\n", robot_x, robot_y);
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usb_puts(buf); |
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break;
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case MOVE_TO_ABSOLUTE_POSITION:
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move_to_position_routine(int_args[0], int_args[1]); |
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break;
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//Buzzer
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case BUZZER_INIT:
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buzzer_init(); |
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break;
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case BUZZER_SET_VAL:
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buzzer_set_val(args[0]);
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break;
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case BUZZER_SET_FREQ:
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buzzer_set_freq(args[0]);
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break;
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case BUZZER_CHIRP:
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buzzer_chirp(int_args[0], int_args[1]); |
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break;
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case BUZZER_OFF:
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buzzer_off(); |
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break;
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case ORB_INIT:
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orb_init(); |
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break;
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//Orb
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case ORB_SET:
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orb_set(args[0], args[1], args[2]); |
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break;
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case ORB_SET_COLOR:
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orb_set_color(int_args[0]);
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break;
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case ORB_DISABLE:
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orb_disable(); |
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break;
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case ORB_ENABLE:
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orb_enable(); |
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break;
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case LED_INIT:
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break;
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case LED_USER:
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break;
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case ORB_SEND:
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//orb_send();
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break;
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//Motors
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case MOTORS_INIT:
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usb_puts("calling motors_init\n");
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motors_init(); |
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break;
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case MOTOR1_SET:
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sprintf(buf, "calling motor1_set [%i] [%i]\n", args[0], args[1]); |
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usb_puts(buf); |
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motor1_set(args[0], args[1]); |
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break;
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case MOTOR2_SET:
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sprintf(buf, "calling motor2_set [%i] [%i]\n", args[0], args[1]); |
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usb_puts(buf); |
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motor2_set(args[0], args[1]); |
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break;
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case MOTORS_OFF:
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usb_puts("calling motors_off\n");
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motors_off(); |
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break;
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case MOVE:
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sprintf(buf, "calling move with: %d, %d\n", args[0], args[1]); |
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usb_puts(buf); |
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move(args[0], args[1]); |
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break;
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case XBEE_INIT:
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xbee_init(); |
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break;
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case XBEE_PUTC:
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xbee_putc((char)args[0]); |
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break;
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case USB_INIT:
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usb_init(); |
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break;
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case USB_PUTC:
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usb_putc((char)args[0]); |
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break;
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case PRINTF:
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printf("%s", pkt.data);
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break;
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case KILL_ROBOT:
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motors_off(); |
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buzzer_off(); |
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exit(0); //kill the robot |
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break;
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//Time
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case DELAY_MS:
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delay_ms(int_args[0]);
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break;
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//Analog
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case ANALOG_INIT:
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//TODO: how do we really init the analog? this doesn't work:
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//analog_init();
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break;
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//BOM
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case BOM_ON:
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bom_on(); |
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break;
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case BOM_OFF:
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bom_off(); |
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break;
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//Dio
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case DIGITAL_OUTPUT:
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digital_output(int_args[0], int_args[1]); |
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break;
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} |
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} else {
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sprintf(buf, "%s: Error: Invalid colonet message type", __FUNCTION__);
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usb_puts(buf); |
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} |
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} |
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static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf) { |
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memcpy(dest_pkt, pkt_buf, sizeof(ColonetRobotServerPacket));
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} |
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/* two_bytes_to_int(char a, char b)
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* Returns int of form [high][low]
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*/
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static unsigned int two_bytes_to_int(char high, char low) { |
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return (((unsigned int)high)<<8) + (unsigned int)low; |
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} |