Revision 988
Refactored simulator, set some stuff up to work with multiple robots.
| robot_shared.h | ||
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/* shared structs for simulator */ |
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/** |
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* @file robot_shared.h |
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* @author Colony Project |
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* |
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* @brief Shared simulator structures. |
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* |
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* This file is for structures that are used by |
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* both the simulator and the simulator library which |
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* is linked to by robot programs. |
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**/ |
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#ifndef __ROBOT_SHARED_H |
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#define __ROBOT_SHARED_H |
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typedef struct PositionType |
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{
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int x,y; /* position of robot in environment */ |
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int theta; /* orientation of robot in environment */ |
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} Position; |
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/* rangefinders are 1-5, so write convert function for this */ |
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typedef struct RangeFinderType |
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{
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short d[5];
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short d[5];
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} RangeFinder; |
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/* this is what is in the robot shared memory */ |
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{
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short motor1; /* motor1 value */ |
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short motor2; /* motor2 value */ |
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RangeFinder ranges; /* rangefinders */
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/* add other sensors, etc here */
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RangeFinder ranges; /* rangefinders */
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/* add other sensors, etc here */
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} RobotShared; |
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#endif |
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typedef struct SimulatorRobotType |
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{
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int robotSharedMemoryID; /* id for shared memory object */ |
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RobotShared* robotState;/*Pointer to shared state*/ |
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Position pos; /* position in environment */ |
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short motor1; /* motor1 value */ |
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short motor2; /* motor2 value */ |
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RangeFinder ranges; /* rangefinders */ |
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/* add other sensors, etc here */ |
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} SimulatorRobot; |
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#endif |
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