Revision 883
Wireless for bayboard sort of works. I still left in all my debugging information though, and it doesn't seem to work quite as well as the other two. Some more work is needed.
| sensor_matrix.c | ||
|---|---|---|
| 55 | 55 |
for (i = 0; i < MAXIMUM_XBEE_ID; i++) |
| 56 | 56 |
{
|
| 57 | 57 |
m.joined[i] = 0; |
| 58 |
for (j = 0; j < MAXIMUM_XBEE_ID; j++) |
|
| 59 |
m.matrix[i][j] = READING_UNKNOWN; |
|
| 60 | 58 |
} |
| 61 | 59 |
} |
| 62 | 60 |
|
| ... | ... | |
| 69 | 67 |
*/ |
| 70 | 68 |
void sensor_matrix_set_reading(int observer, int robot, int reading) |
| 71 | 69 |
{
|
| 72 |
if (robot >= MAXIMUM_XBEE_ID || observer >= MAXIMUM_XBEE_ID) |
|
| 73 |
{
|
|
| 74 |
WL_DEBUG_PRINT("ID too large.");
|
|
| 75 |
return; |
|
| 76 |
} |
|
| 77 | 70 |
|
| 78 |
m.matrix[observer][robot] = (unsigned char)reading; |
|
| 79 | 71 |
} |
| 80 | 72 |
|
| 81 | 73 |
/** |
| ... | ... | |
| 88 | 80 |
**/ |
| 89 | 81 |
int sensor_matrix_get_reading(int observer, int robot) |
| 90 | 82 |
{
|
| 91 |
if (observer >= MAXIMUM_XBEE_ID || robot >= MAXIMUM_XBEE_ID) |
|
| 92 |
return -1; |
|
| 93 |
|
|
| 94 |
return (int)m.matrix[observer][robot]; |
|
| 83 |
return -1; |
|
| 95 | 84 |
} |
| 96 | 85 |
|
| 97 | 86 |
/** |
| ... | ... | |
| 104 | 93 |
{
|
| 105 | 94 |
if (robot >= MAXIMUM_XBEE_ID) |
| 106 | 95 |
{
|
| 96 |
usb_puts("ID too large.\n\r");
|
|
| 107 | 97 |
WL_DEBUG_PRINT("ID too large.");
|
| 108 | 98 |
return; |
| 109 | 99 |
} |
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