Diff: XBee_Robot.h

Revision:

12:a7ec1238373e

Parent:

11:6b699617fc7f

--- a/XBee_Robot.h	Tue Feb 02 11:02:48 2016 +0000
+++ b/XBee_Robot.h	Fri Mar 04 18:46:05 2016 +0000
@@ -8,9 +8,9 @@
     std::vector<uint8_t> addr; //16 bit network address vector
     std::vector<uint8_t> addr64; //64 bit network address vector
     int nodeNum; //index
-    int x;
-    int y;
-    int heading;
+    int x; //x coordinate
+    int y; //y coordinate
+    int heading; //heading
 public:
     NetworkNode(std::vector<uint8_t> & addrIn, int indexIn);
     //constructor
@@ -50,6 +50,8 @@
 class XBee_Robot {
 private:
 
+    std::vector< vector <int> > obstacles; // 2D vector to hold positions of obstacles 
+    
     int currentIndex; //current index of NetworkNode for received packet, allows coordinates to be updated
 
     std::vector< NetworkNode > node_list; //list of network nodes
@@ -62,14 +64,13 @@
     
     int commandFlag; // flag that indicates if coordinates from the coordinator have been received
     
+    int finishedFlag; // flag that indictates if the router robots have finished their journey (coordinator use only)
+    
 public:
     
     XBee_Robot(PinName _txIn, PinName _rxIn);
     //constructor for XBee
     
-    void setRxInterrupt();
-    //enables interrupt for receive pin
-    
     void Rx_interrupt();
     //ISR for receive pin
     
@@ -103,6 +104,18 @@
     int getCommandFlag();
     //used by main program to poll command flag
     
+    int getFinishedFlag();
+    //used by main program to poll finished flag (coordinator use only)
+    
+    void resetFinishedFlag();
+    //used by main program to reset finished flag (coordinator use only)
+    
     void resetCommandFlag();
     //used by main program to reset command flag
+    
+    int checkObstacle(int x_in, int y_in);
+    //used by main program to check if an obstacle exists at given coordinates (coordinator use only)
+
+    int convSigned(int int_in);
+    //used to convert unsigned 8 bit integers to signed integers
 };