void dispatchFixedMessage(int operation, unsigned long param)
{
if (VERBOSE) {
fprintf(stderr,"Calling base operation %d\n",operation);
}
confirmCommandToClient(operation, param); /* sends a message back to all
* baseClients, confirming the
* command, sebastian 7-97 */
switch(operation) {
/**** GENERAL ****/
case BASE_baseKill: baseKill(); break;
case BASE_loadHeading: loadHeading(param); break;
case BASE_loadPosition: loadPosition(param); break;
case BASE_statusReportData: statusReportData(param);break;
case BASE_statusReportPeriod: statusReportPeriod(param);break;
case BASE_batteryVoltage: batteryVoltage();break;
case BASE_batteryCurrent: batteryCurrent();break;
case BASE_watchdogTimer: watchdogTimer(param);break;
case BASE_assumeWatchdog: assumeWatchdog();break;
/**** ROTATION ****/
case BASE_rotateLimp: rotateLimp(); break;
case BASE_rotateHalt: rotateHalt(); break;
case BASE_rotateVelocityPos: rotateVelocityPos(); break;
case BASE_rotateVelocityNeg: rotateVelocityNeg(); break;
case BASE_rotateRelativePos: rotateRelativePos(param); break;
case BASE_rotateRelativeNeg: rotateRelativeNeg(param); break;
case BASE_rotateTorquePos: rotateTorquePos(param); break;
case BASE_rotateTorqueNeg: rotateTorqueNeg(param); break;
case BASE_rotatePowerPos: rotatePowerPos(param); break;
case BASE_rotatePowerNeg: rotatePowerNeg(param); break;
case BASE_rotateToPosition: rotateToPosition(param); break;
case BASE_findRotIndex:
if (bRobot.base_hasIndex) {
findRotIndex();
}
else {
sendClientFixed(BASE_indexReport, 0xFFFFFF);
}
break;
case BASE_setRotateVelocity: setRotateVelocity(param); break;
case BASE_setRotateAcceleration: setRotateAcceleration(param); break;
case BASE_setRotateFriction: setRotateFriction(param); break;
case BASE_setRotateSlope: setRotateSlope(param); break;
case BASE_setRotateTorque: setRotateTorque(param); break;
case BASE_setRotateZero: setRotateZero(param); break;
case BASE_rotateCurrent: rotateCurrent(); break;
case BASE_rotateWhere: rotateWhere(); break;
/**** TRANSLATION ****/
case BASE_translateLimp: translateLimp(); break;
case BASE_translateHalt: translateHalt(); break;
case BASE_translateVelocityPos: translateVelocityPos(); break;
case BASE_translateVelocityNeg: translateVelocityNeg(); break;
case BASE_translateRelativePos: translateRelativePos(param); break;
case BASE_translateRelativeNeg: translateRelativeNeg(param); break;
case BASE_translateTorquePos: translateTorquePos(param); break;
case BASE_translateTorqueNeg: translateTorqueNeg(param); break;
case BASE_translatePowerPos: translatePowerPos(param); break;
case BASE_translatePowerNeg: translatePowerNeg(param); break;
case BASE_translateToPosition: translateToPosition(param); break;
case BASE_setTranslateVelocity: setTranslateVelocity(param); break;
case BASE_setTranslateAcceleration: setTranslateAcceleration(param); break;
case BASE_setTranslateSlope: setTranslateSlope(param); break;
case BASE_setTranslateTorque: setTranslateTorque(param); break;
case BASE_setTranslateZero: setTranslateZero(param); break;
case BASE_translateCurrent: translateCurrent(); break;
case BASE_translateWhere: translateWhere(); break;
/**** SONARS ****/
case BASE_sonarStart: SIM_sonarStart(); break;
case BASE_sonarStop: SIM_sonarStop(); break;
/**** Odometry stuff ****/
case BASE_odometryChangeX:
ntohf(param, bOriginX);
sendClientFixed(BASE_odometryChangeX, param);
break;
case BASE_odometryChangeY:
ntohf(param, bOriginY);
sendClientFixed(BASE_odometryChangeY, param);
break;
case BASE_odometryChangeH:
ntohf(param, bOriginHeading);
sendClientFixed(BASE_odometryChangeH, param);
break;
/**** Odometry lock requests ****/
case BASE_requestOdometryLock:
requestOdometryLock((unsigned short)param);
break;
case BASE_releaseOdometryLock:
releaseOdometryLock();
break;
default:
fprintf(stderr, "BaseServer: Operation %d not yet implemented.\n",
operation);
}
if (VERBOSE) {
fprintf(stderr,"Operation %d complete\n",operation);
}
}
int main (void)
{
//iniciçao da pic
initPIC32 ();
closedLoopControl( true );
setVel2(0, 0);
T4CONbits.TCKPS=5;
PR4=(PBCLK/32/3)-1;//fout 20MHz/(32*(62499+1))*10Hz,freq a 1 hz
TMR4=0;//Reset timer T2
T4CONbits.TON=1;
//Interrupts
IFS0bits.T4IF=0;//reset do timer
IPC4bits.T4IP=2;//priority
IEC0bits.T4IE=1;//enable timer3
EnableInterrupts();
printStr(__FILE__); // para saber o nome do ficheiro que esta a correr no robot
printf("\r battery: %d ", batteryVoltage());
printStr("\n");
//desligar os leds para o inicio
leds(0b1111); //leds off
#if 0
while(1)
{
while(!tick40ms);
tick40ms=0;
readAnalogSensors();
}
#endif
while (TRUE)
{
TimeOut(); // timeOut => tb devia ir para uma inturrupcao
//Sensor(); //leitura os sensores tem de se por numa interropecao
//botao de estado
if(startButton() == 1) // Botao start(preto) primido
{
estado = 1;
resetCoreTimer();
leds(0x1);
}
else if(stopButton() == 1) //Botao stop(vermelho) primido
{
estado = 0;
leds(0x0);
}
//funcoa de funcionameneto
if(estado == 1) // robot fica em presesamento
{
Ver_Farol();
printf("D: %d F: %d E: %d LINHA: %d Farol: %d \r", sensor_dir,sensor_frente,sensor_esq,linha ,farolsen );
ANDAR2();
}
//quando e primido o botao stop
else if(stopButton() == 1) // deslica o funcionamento, nenhum led activo
{
Stop_robot();
}
}
return (0);
}
int main (void)
{
int countCiclos = 100;
//iniciçao da pic
initPIC32 ();
closedLoopControl( true );
setVel2(0, 0);
printStr(__FILE__); // para saber o nome do ficheiro que esta a correr no robot
printf("\r battery: %d ", batteryVoltage());
if(batteryVoltage() <94){
printf("_Bateria fraca, MUDAR Bateria\n");
}
printStr("\n");
while(1)
{
while(!tick40ms);
tick40ms=0;
readAnalogSensors();
//state buttons
if(startButton() == 1) // Botao start(preto) primido
{
estado = 1;
enableObstSens();
leds(0x0); //leds off
countCiclos = 100;
}
else if(stopButton() == 1) //Botao stop(vermelho) primido
{
printf("Red button pressed!!! \n");
estado = 0;
disableObstSens();
}
if(estado == 1)
{
TimeOut(); // timeOut => tb devia ir para uma inturrupcao
Chegada_Farol();
if(countCiclos++ >= 100)
{
Ver_Farol();
countCiclos = 0;
}
Run_Beacon();
}
if(estado == 2)
{
leds(0x1);
Stop_robot();
}
if(estado == 3)
Fim();
else if(stopButton() == 1 || estado == 0) // deslica o funcionamento, nenhum led activo
{
Stop_robot();
}
}
return (0);
}
