Example code for the UKESF Headstart robotics lab; code to make the PsiSwarm robot move forward and turn.
Dependencies: PsiSwarm-Headstart mbed
Fork of PsiSwarm_V41 by
Diff: BeautifulMeme/bmeme.h
- Revision:
- 31:7fa2c47d73a2
- Parent:
- 30:513457c1ad12
--- a/BeautifulMeme/bmeme.h Tue Mar 15 00:58:43 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,58 +0,0 @@ -/// PsiSwarm Beautiful Meme Project Source Code -/// Version 0.41 -/// James Hilder, Alan Millard, Homero Elizondo, Jon Timmis -/// University of York - - -#ifndef BMEME_H -#define BMEME_H - -#include "main.h" -#include "beacon.h" -#include "programs.h" -#include "vector.h" -#include <math.h> - -// Define the on-period for a IR pulse in microseconds (eg 50000 for 2Hz system, 25000 for a 4Hz system or 20000 for a 5Hz system) -#define BEACON_PERIOD 25000 - - -// Define the on-period for a IR pulse in microseconds (eg 50000 for 2Hz system, 25000 for a 4Hz system or 20000 for a 5Hz system) -#define BEACON_PERIOD 25000 - -extern char beacon_found; // This will be a 1 if beacon is detected, 0 if it isn't -extern int beacon_heading; // The heading from the last time the beacon was detected -extern char robots_found[8]; // These will be a 1 when the respective robot [excluding self] was detected during the previous 500ms window -extern int robots_heading[8]; // These are the headings from the last time the respective robots were detected -extern unsigned short robots_distance[8]; // This is the maximum sensor value from the last time the respective robot was detected -extern unsigned short reflected_sensor_data[8]; // The reflected IR values when this robots emitters are on -extern unsigned short background_sensor_data[8];// The raw IR values when no robot (or beacon) should have its IR on -extern char disable_ir_emitters; -extern char step_cycle; -extern char target_reached; -extern char recharging_state; -extern char prog_name [17]; -extern char prog_info [17]; -extern char main_program_state; -extern char program_changed; -extern char program_run_init; -extern float battery_low_threshold; -extern float battery_high_threshold; -extern int flocking_headings[8]; - -char * get_program_name(int index); -void set_program(int index); -void set_program_info(char * info); - -void update_display(void); -void display_debug_info(void); - -void bmeme_user_code_setup(void); -void bmeme_user_code_loop(void); -void bmeme_handle_switch_event(char switch_state); -void bmeme_handle_user_serial_message(char * message, char length, char interface); - -void display_ir_readings(void); -void out(const char* format, ...) ; - -#endif \ No newline at end of file