Bluetooth communication for flocking.
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Diff: main.h
- Revision:
- 10:1b09d4bb847b
- Parent:
- 9:085e090e1ec1
- Child:
- 11:7b3ee540ba56
diff -r 085e090e1ec1 -r 1b09d4bb847b main.h --- a/main.h Mon Oct 26 11:16:05 2015 +0000 +++ b/main.h Mon Oct 26 23:58:08 2015 +0000 @@ -17,7 +17,9 @@ #ifndef MAIN_H #define MAIN_H +#include "psiswarm.h" #include "beacon.h" +#include "programs.h" // Define the on-period for a IR pulse in microseconds (eg 50000 for 2Hz system, 20000 for a 5Hz system) #define BEACON_PERIOD 25000 @@ -25,10 +27,22 @@ 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 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; + +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); @@ -39,7 +53,6 @@ int main(void); -void head_to_bearing_program(int target_bearing); void display_ir_readings(void); void out(const char* format, ...) ;