Revision 963
Minor modifications and fixes. Haven't gotten it to work yet.
| test.c | ||
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#include <dragonfly_lib.h> |
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#include <wireless.h> |
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#include <encoders.h> |
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#include "odometry.h" |
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#define MAP_RECEIVE_GROUP 17 |
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#define MAP_REQUEST_GROUP 23 |
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#define POINT_RAW 1 // packet type for map data points w/ raw encoder data
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#define POINT_ODO 2 // packet type for map data points w/ odometry data
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#define DATA_POINT 2
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#define DATA_REQUEST 3
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#define WL_CNTL_GROUP 4 |
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int state; |
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int velocity; |
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char buf[100]; |
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void respond(char type, int source, unsigned char* packet, int length); |
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PacketGroupHandler receiveHandler = {MAP_REQUEST_GROUP,
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NULL, NULL, NULL, NULL}; |
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PacketGroupHandler requestHandler = {MAP_RECEIVE_GROUP,
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PacketGroupHandler requestHandler = {MAP_REQUEST_GROUP,
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NULL, NULL, respond, NULL}; |
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int main(void) |
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{
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/* initialize components and join the token ring */ |
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dragonfly_init(ALL_ON);
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dragonfly_init(ORB | RANGE | BOM | COMM);
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odometry_init(); |
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wl_init(); |
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wl_set_channel(0xE); |
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wl_register_packet_group(&receiveHandler); |
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wl_register_packet_group(&requestHandler); |
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wl_token_ring_register(); |
| ... | ... | |
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} |
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void respond(char type, int source, unsigned char* packet, int length) {
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sprintf(buf, "received packet: %d\n", type); |
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usb_puts(buf); |
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if(type==DATA_REQUEST){
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sprintf(buf, "received packet: %d\n", type); |
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usb_puts(buf); |
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int store[9]; |
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store[0] = 0; |
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store[1] = 0; |
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*((double*)(store + 2)) = 5.0; |
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store[4] = 125; // IR1 range |
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store[5] = 125; // IR2 range |
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store[6] = 125; // IR3 range |
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store[7] = 125; // IR4 range |
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store[8] = 125; // IR5 range |
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int store[9];
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store[0] = 0;
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store[1] = 0;
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*((double*)(store + 2)) = 5.0;
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store[4] = 125; // IR1 range
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store[5] = 125; // IR2 range
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store[6] = 125; // IR3 range
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store[7] = 125; // IR4 range
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store[8] = 125; // IR5 range
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wl_send_robot_to_robot_global_packet(MAP_RECEIVE_GROUP,
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POINT_ODO, &store, 0, source, 0);
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wl_send_robot_to_robot_global_packet(MAP_REQUEST_GROUP,
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DATA_POINT, &store, 0, source, 0);
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} |
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} |
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