///Initializes the mobile node and prepares it for operation.
///Called when this mobile node is booted up.
void reboot_mobile()
{
// We require each node to have a different stream of random numbers.
CNET_srand(nodeinfo.time_of_day.sec + nodeinfo.nodenumber);
// Provide the required event handlers.
CHECK(CNET_set_handler(EV_PHYSICALREADY, physical_ready, 0));
CHECK(CNET_set_handler(EV_APPLICATIONREADY, application_ready, 0));
// Initialize mobility.
init_walking();
start_walking();
// Prepare to talk via our wireless connection.
CHECK(CNET_set_wlan_model(my_WLAN_model));
// Setup our data link layer instances.
dll_states = calloc(nodeinfo.nlinks + 1, sizeof(struct dll_wifi_state *));
for (int link = 1; link <= nodeinfo.nlinks; ++link) {
if (linkinfo[link].linktype == LT_WLAN) {
dll_states[link] = dll_wifi_new_state(link,
up_from_dll,
false /* is_ds */);
}
}
isAss = false;
timeAPset = false;
//CNET TIMEOUT TIMER
CHECK(CNET_set_handler( EV_TIMER2, timeouts, 0));
//CNET PROBE TIMER
CHECK(CNET_set_handler(EV_TIMER1, probe, 0));
CHECK(CNET_set_handler(EV_TIMER3, probe, 0));
// Start cnet's default application layer.
CHECK(CNET_enable_application(ALLNODES));
printf("reboot_mobile() complete.\n");
printf("\t(%s) My address: %" PRId32 ".\n",nodeinfo.nodename, nodeinfo.address);
probe_timer = CNET_start_timer(EV_TIMER1, PROBE_START, 0);
toSend = (struct nl_packet *)malloc(sizeof(struct nl_packet));
CNET_start_timer(EV_TIMER1, 0, 0);
}
void mode2(void)
{
action_servo(18, 0);
action_servo(19, 60);
action_servo(20, 170);
set_all_servo(ON);
servo_onoff(19, ON);
servo_onoff(20, ON);
deploy_legs();
wait_servo(2);
start_walking(0, 40, 40, 300000, 20);
for (unsigned int i = 0; i < 20; i++)
walk(0, 40, 40, 300000, 20);
delay_s(2);
set_all_servo(OFF);
servo_onoff(19, OFF);
servo_onoff(20, OFF);
}