Revision 899
Wireless output works.
| trunk/code/projects/mapping/robot/robot_main.c | ||
|---|---|---|
| 8 | 8 |
#define POINT_RAW 1 // packet type for map data points w/ raw encoder data |
| 9 | 9 |
#define POINT_ODO 2 // packet type for map data points w/ odometry data |
| 10 | 10 |
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| 11 |
PacketGroupHandler love_handle = {MAP, NULL, NULL, NULL, NULL};
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| 12 |
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| 11 | 13 |
int main(void) |
| 12 | 14 |
{
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| 13 | 15 |
/* initialize components and join the token ring */ |
| 14 |
//wl_init(); |
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dragonfly_init(ALL_ON); |
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range_init(); |
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wl_init(); |
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wl_set_channel(0xF); |
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wl_register_packet_group(&love_handle); |
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| 15 | 21 |
//data_response_init(); |
| 16 | 22 |
//wl_token_ring_register(); |
| 17 | 23 |
//wl_token_ring_join(); |
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dragonfly_init(ALL_ON); |
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| 19 | 24 |
run_around_init(); |
| 20 | 25 |
//odometry_init(); |
| 21 | 26 |
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| 22 | 27 |
//int x, y; // use when sending odometry data |
| 23 | 28 |
//float theta; |
| 24 | 29 |
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// use when sending raw encoder data |
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int left_enc, right_enc, range1, range2, range3, range4, range5; |
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| 28 | 30 |
int store[7]; |
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char send[8]; // for transmission
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char *send; // for transmission
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| 30 | 32 |
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| 31 | 33 |
while(1) |
| 32 | 34 |
{
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| ... | ... | |
| 36 | 38 |
//x = odometry_dx(); // use when sending odometry data |
| 37 | 39 |
//y = odometry_dy(); |
| 38 | 40 |
//theta = odometry_angle(); |
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store[0] = encoder_get_dx(LEFT); // left encoder distance |
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store[1] = encoder_get_dx(RIGHT); // right encoder distance |
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store[0] = -1;//encoder_get_dx(LEFT); // left encoder distance
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store[1] = -1;//encoder_get_dx(RIGHT); // right encoder distance
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| 41 | 43 |
store[2] = range_read_distance(IR1); // IR1 range |
| 42 | 44 |
store[3] = range_read_distance(IR2); // IR2 range |
| 43 | 45 |
store[4] = range_read_distance(IR3); // IR3 range |
| 44 | 46 |
store[5] = range_read_distance(IR4); // IR4 range |
| 45 | 47 |
store[6] = range_read_distance(IR5); // IR5 range |
| 46 | 48 |
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//send = (char) store; // convert to chars for transmission |
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// for (int i = 0; i < 7; i++) |
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// {
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// send[i] = (char) store[i]; |
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// } |
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// send[7] = 0; |
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// convert to chars for transmission |
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//for (int i = 0; i < 7; i++) |
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//{
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// send[i] = (char) store[i]; |
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//} |
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//send[7] = '\0'; |
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//memcpy(store, send, 14); |
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send = (char*) store; |
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| 53 | 57 |
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| 54 | 58 |
// send point w/ raw encoder data |
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// wl_send_global_packet(MAP, POINT_RAW, send, 7, 0);
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wl_send_global_packet(MAP, POINT_RAW, send, 14, 0);
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| 56 | 60 |
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| 57 | 61 |
// send point w/ odometry data |
| 58 | 62 |
// wl_send_global_packet(MAP, POINT_ODO, send, 8, 0); |
| ... | ... | |
| 65 | 69 |
for (int i = 0; i < 7; i++) |
| 66 | 70 |
{
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| 67 | 71 |
usb_puti(store[i]); |
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usb_putc(' ');
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| 68 | 73 |
} |
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usb_putc("\n");
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usb_putc('\n');
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usb_puti(range_read_distance(IR1)); |
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usb_putc('\n');
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| 70 | 77 |
} |
| 71 | 78 |
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//wl_terminate();
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wl_terminate(); |
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| 73 | 80 |
return 0; |
| 74 | 81 |
} |
| 75 | 82 |
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