Revision 897
code for server with xbee dongle to control robot running slave code
| test.c | ||
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#include "stdlib.h"
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#include "stdio.h"
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#include <stdlib.h>
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#include <stdio.h>
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#include <curses.h> |
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#include "../lib/wireless.h" |
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#include "../lib/wl_error_group.h" |
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#include "../lib/wl_token_ring.h" |
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//#include "../lib/xbee.h" |
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#include <time.h>
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#define WL_CNTL_GROUP 4
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int main() |
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{
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printf("Beginning.\n");
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#define FORWARD 0 |
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#define BACK 1 |
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#define LEFT 2 |
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#define RIGHT 3 |
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#define LEFT_CURVE 4 |
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#define RIGHT_CURVE 5 |
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#define STOP 6 |
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#define VEL_UP 7 |
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#define VEL_DOWN 8 |
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void send_packet (char color, int dst_robot); |
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PacketGroupHandler packetHandler = {WL_CNTL_GROUP, NULL, NULL, NULL, NULL};
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int main(int argc, char *argv[]) {
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if (argc != 2) {
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printf("Usage: ./test <robot #>\n");
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return 1; |
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} |
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char c; |
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int robot = atoi(argv[1]); |
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initscr(); |
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printf("Beginning: robot=%d\r\n", robot);
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wl_set_com_port("/dev/ttyUSB0");
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wl_init(); |
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wl_set_channel(0xF); |
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printf("Wireless initialized.\n");
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wl_error_register(); |
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wl_token_ring_register(); |
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wl_token_ring_join(); |
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printf("Packet groups initialized.\n");
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struct timespec delay; |
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delay.tv_sec = 0; |
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delay.tv_nsec = 100000000; |
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while (1) |
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{
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//wl_error_send_string("s");
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wl_do(); |
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nanosleep(&delay, 0); |
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printf("Wireless initialized.\r\n");
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wl_register_packet_group(&packetHandler); |
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printf("Packet groups initialized.\r\n");
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fflush(stdout); |
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//while (1); |
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while (1) {
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c = getch(); |
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printf("%c\r\n", c);
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fflush(stdout); |
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switch (c) {
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case 'w': |
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send_packet(FORWARD, robot); |
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break; |
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case 's': |
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send_packet(BACK, robot); |
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break; |
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case 'a': |
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send_packet(LEFT, robot); |
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break; |
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case 'd': |
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send_packet(RIGHT, robot); |
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break; |
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case 'q': |
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send_packet(LEFT_CURVE, robot); |
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break; |
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case 'e': |
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send_packet(RIGHT_CURVE, robot); |
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break; |
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case 'x': |
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send_packet(STOP, robot); |
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break; |
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case ']': |
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send_packet(VEL_UP, robot); |
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break; |
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case '[': |
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send_packet(VEL_DOWN, robot); |
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break; |
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default: |
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//send_packet(FORWARD); |
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break; |
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} |
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} |
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wl_terminate(); |
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return 0; |
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} |
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void send_packet (char type, int dst_robot) {
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wl_send_robot_to_robot_global_packet(WL_CNTL_GROUP, type, NULL, 0, dst_robot, 0); |
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//wl_send_global_packet(WL_CNTL_GROUP, type, NULL, 0, 0); |
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} |
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