main.h

00001 /*******************************************************************************************
00002  *
00003  * University of York Robot Lab Pi Swarm Robot Library
00004  *
00005  * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
00006  * 
00007  * Version 0.6  February 2014
00008  *
00009  * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2
00010  *
00011  ******************************************************************************************/
00012 
00013 #ifndef MAIN_H
00014 #define MAIN_H
00015 
00016 #include "piswarm.h"
00017 
00018 void handleUserRFCommand(char * data, char length);
00019 void handleUserRFCommand(char sender, char broadcast_message, char request_response, char id, char is_command, char function, char * data, char length);
00020 void handleUserRFResponse(char sender, char broadcast_message, char request_response, char id, char is_command, char function, char * data, char length);
00021 void processRawRFData(char * rstring, char cCount);
00022 void switch_pressed ( void );
00023 
00024 //This function collects all outer IR sensors information and store them in an array.
00025 void get_sensors_values( void );
00026 //Detect strongest source of IR and face towards it. Cosntant defines rate of spin.
00027 void attraction( float direction_constant );
00028 //Do flocking behaviour
00029 void flocking( void );
00030 //Do aggregation behaviour
00031 void aggregation( void );
00032 
00033 #endif //MAIN_H