void connectObjects()
{
imu.ro.name="IMU";
imu.ro.connections=imuConnections;
imu.ro.nConnections=1;
createIMU(&imu);
pilot.ro.name="Pilot";
pilot.ro.connections=pilotConnections;
pilot.ro.nConnections=1;
createPilot(&pilot);
RX.ro.name="RX";
RX.ro.connections=rxConnections;
RX.ro.nConnections=5;
RX.ro.parameters=parameterList;
RX.ro.messageHandler=RXHandleMessage;
RX.radioOverflows=0;
RX.servoUpdateRate=0;
sensorBus1.ro.name="1 wire";
sensorBus1.ro.connections=onewConnections;
sensorBus1.ro.nConnections=1;
createOneWireBus(&sensorBus1);
routedObjectConnect(&imu.ro);
routedObjectConnect(&pilot.ro);
routedObjectConnect(&RX.ro);
routedObjectConnect(&sensorBus1.ro);
}
Pilot *getPilotFromVertex(Vertex *v)
{
Vect *speed=getSpeedFromIndex(((Vect4D *)v->e)->z);
if(speed)
{
return createPilot(createVect(((Vect4D *)v->e)->x,((Vect4D *)v->e)->y),speed);
}
else
{
perror("Vitesse (NULL)");
}
}
