Diff: Protocol/protocol.h

Revision:

20:7138ab2f93f7

Parent:

19:c709c5a9fb08

Child:

21:8a98c6450e00

diff -r c709c5a9fb08 -r 7138ab2f93f7 Protocol/protocol.h
--- a/Protocol/protocol.h	Sun May 15 19:14:06 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,121 +0,0 @@
-/**
-@file protocol.h
-@brief Protocol definitions.
-*/
-
-/*
-Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
-
-This file is part of piranha-ptc.
-
-This is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-See the GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-
-#ifndef __PIRANHA_PROTOCOL_H__
-#define __PIRANHA_PROTOCOL_H__
-
-//@{
-///PID parameters range.
-#define PID_PARAMS_MIN -100.0
-#define PID_PARAMS_MAX 100.0
-//@}
-
-//@{
-///Ground velocity range.
-#define GND_VEL_MIN -100.0
-#define GND_VEL_MAX 100.0
-//@}
-
-//@{
-///Angle reference range (in radians).
-#define PI 3.141593
-#define ANG_REF_MIN -PI
-#define ANG_REF_MAX PI
-//@}
-
-//@{
-///Angle reference from camera range (in radians).
-#define CAM_ANG_REF_MIN -PI
-#define CAM_ANG_REF_MAX PI
-//@}
-
-//@{
-///Jogging speed period (in seconds).
-#define JOG_VEL_PERIOD_MIN 0.0
-#define JOG_VEL_PERIOD_MAX 300.0
-//@}
-
-//@{
-///Jogging speed ratio.
-#define JOG_VEL_RATIO_MIN 0.0
-#define JOG_VEL_RATIO_MAX 1.0
-//@}
-
-//@{
-///Jogging speed period (in seconds).
-#define MAG_CALIB_MIN -1000.0
-#define MAG_CALIB_MAX 1000.0
-//@}
-
-///Messages to send via protocol.
-enum
-{
-	///Do nothing.
-	NONE,
-
-	///Brake the robot.
-	BRAKE,
-
-	///Reset angle measurement.
-	ANG_RST,
-
-	///Set new angle reference.
-	ANG_REF,
-
-	///Set new angle reference from camera.
-	CAM_ANG_REF,
-
-	///Set new ground velocity for robot.
-	GND_VEL,
-
-	///Set new jogging speed for robot.
-	JOG_VEL,
-
-	///Magnetometer calibration (min_x, max_x, min_y, max_y).
-	MAG_CALIB,
-
-	///Send PID control parameters (P, I, D, N).
-	PID_PARAMS
-};
-
-#define MSG_HEADER_SIZE 1
-#define MSG_VAL_SIZE 2
-#define MSG_MAX_NUM_VALS 4
-#define MSG_BUF_LEN (MSG_HEADER_SIZE + MSG_VAL_SIZE*MSG_MAX_NUM_VALS)
-#define MSG_HEADER_IDX 0
-#define MSG_VALS_START_IDX (MSG_HEADER_IDX + 1)
-
-#define SENDER_PORT 7532
-#define SENDER_IFACE_ADDR "192.168.7.2"
-#define SENDER_NETMASK_ADDR "255.255.255.0"
-#define SENDER_GATEWAY_ADDR "0.0.0.0"
-
-#define RECEIVER_PORT 7533
-#define RECEIVER_IFACE_ADDR "192.168.7.3"
-#define RECEIVER_NETMASK_ADDR "255.255.255.0"
-#define RECEIVER_GATEWAY_ADDR "0.0.0.0"
-
-#endif
-