Colony

/* shared structs for simulator */

#ifndef __ROBOT_SHARED_H

#define __ROBOT_SHARED_H

typedef struct PositionType

{

  int x,y; /* position of robot in environment */

  int theta; /* orientation of robot in environment */

} Position;

/* rangefinders are 1-5, so write convert function for this */

typedef struct RangeFinderType

{

  short d[5];

} RangeFinder;

/* this is what is in the robot shared memory */

typedef struct RobotSharedType

{

        short motor1; /* motor1 value */

        short motor2; /* motor2 value */

  RangeFinder ranges; /* rangefinders */

  /* add other sensors, etc here */

} RobotShared;

typedef struct SimulatorRobotType

{

  int robotSharedMemoryID; /* id for shared memory object */

  Position pos; /* position in environment */

        short motor1; /* motor1 value */

        short motor2; /* motor2 value */

  RangeFinder ranges; /* rangefinders */

  /* add other sensors, etc here */

} SimulatorRobot;

#endif