Revision: 6503
http://playerstage.svn.sourceforge.net/playerstage/?rev=6503&view=rev
Author: gbiggs
Date: 2008-06-09 23:35:08 -0700 (Mon, 09 Jun 2008)
Log Message:
-----------
Fixed config.h, playerconfig.h and their little friends.
Modified Paths:
--------------
code/player/trunk/server/drivers/mixed/irobot/create/create_comms.c
code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_comms.c
Modified: code/player/trunk/server/drivers/mixed/irobot/create/create_comms.c
===================================================================
--- code/player/trunk/server/drivers/mixed/irobot/create/create_comms.c
2008-06-10 05:53:21 UTC (rev 6502)
+++ code/player/trunk/server/drivers/mixed/irobot/create/create_comms.c
2008-06-10 06:35:08 UTC (rev 6503)
@@ -2,8 +2,8 @@
* Player - One Hell of a Robot Server
* Copyright (C) 2006 -
* Brian Gerkey
- *
*
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
@@ -37,7 +37,7 @@
#endif
#include <libplayercore/playercommon.h>
-#include <libplayercore/playerconfig.h>
+#include <playerconfig.h>
#include <replace/replace.h>
//#include <sys/poll.h>
@@ -82,7 +82,7 @@
fflush(stdout);
// Open it. non-blocking at first, in case there's no create
- if((r->fd = open(r->serial_port,
+ if((r->fd = open(r->serial_port,
O_RDWR | O_NONBLOCK, S_IRUSR | S_IWUSR )) < 0 )
{
perror("create_open():open():");
@@ -103,11 +103,11 @@
r->fd = -1;
return(-1);
}
-
+
cfmakeraw(&term);
cfsetispeed(&term, B57600);
cfsetospeed(&term, B57600);
-
+
if(tcsetattr(r->fd, TCSAFLUSH, &term) < 0 )
{
perror("create_open():tcsetattr():");
@@ -135,7 +135,7 @@
r->oa = r->ox = r->oy = 0;
- // We know the robot is there; switch to blocking
+ // We know the robot is there; switch to blocking
// ok, we got data, so now set NONBLOCK, and continue
if((flags = fcntl(r->fd, F_GETFL)) < 0)
{
@@ -173,7 +173,7 @@
r->mode = CREATE_MODE_PASSIVE;
usleep(CREATE_DELAY_MODECHANGE_MS * 1e3);
-
+
if (fullcontrol)
{
cmdbuf[0] = CREATE_OPCODE_FULL;
@@ -250,8 +250,8 @@
{
// General case: convert rv to turn radius
rad_mm = (int16_t)rint(tv_mm / rv);
- // The robot seems to turn very slowly with the above
- rad_mm /= 2;
+ // The robot seems to turn very slowly with the above
+ rad_mm /= 2;
//printf("real rad_mm: %d\n", rad_mm);
rad_mm = MAX(rad_mm, -CREATE_RADIUS_MAX_MM);
rad_mm = MIN(rad_mm, CREATE_RADIUS_MAX_MM);
@@ -443,7 +443,7 @@
printf("position: %.3lf %.3lf %.3lf\n", r->ox, r->oy, r->oa);
printf("bumpers: l:%d r:%d\n", r->bumper_left, r->bumper_right);
printf("wall: %d virtual wall: %d\n", r->wall, r->virtual_wall);
- printf("wheeldrops: c:%d l:%d r:%d\n",
+ printf("wheeldrops: c:%d l:%d r:%d\n",
r->wheeldrop_caster, r->wheeldrop_left, r->wheeldrop_right);
printf("cliff: l:%d fl:%d fr:%d r:%d\n",
r->cliff_left, r->cliff_frontleft, r->cliff_frontright,
r->cliff_right);
@@ -455,7 +455,7 @@
printf("buttons: p:%d s:%d c:%d m:%d\n",
r->button_power, r->button_spot, r->button_clean, r->button_max);
printf("charging state: %d\n", r->charging_state);
- printf("battery: voltage:%.3lf current:%.3lf temp:%.3lf charge:%.3lf
capacity:%.3f\n",
+ printf("battery: voltage:%.3lf current:%.3lf temp:%.3lf charge:%.3lf
capacity:%.3f\n",
r->voltage, r->current, r->temperature, r->charge, r->capacity);
}
@@ -485,7 +485,7 @@
return(0);
}
-int
+int
create_play_song(create_comm_t *r, unsigned char songNumber)
{
unsigned char cmdbuf[2];
Modified: code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_comms.c
===================================================================
--- code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_comms.c
2008-06-10 05:53:21 UTC (rev 6502)
+++ code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_comms.c
2008-06-10 06:35:08 UTC (rev 6503)
@@ -2,8 +2,8 @@
* Player - One Hell of a Robot Server
* Copyright (C) 2006 -
* Brian Gerkey
- *
*
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
@@ -36,7 +36,7 @@
#include "config.h"
#endif
-#include <libplayercore/playerconfig.h>
+#include <playerconfig.h>
#include <replace/replace.h>
//#include <sys/poll.h>
@@ -77,7 +77,7 @@
fflush(stdout);
// Open it. non-blocking at first, in case there's no roomba
- if((r->fd = open(r->serial_port,
+ if((r->fd = open(r->serial_port,
O_RDWR | O_NONBLOCK, S_IRUSR | S_IWUSR )) < 0 )
{
perror("roomba_open():open():");
@@ -98,11 +98,11 @@
r->fd = -1;
return(-1);
}
-
+
cfmakeraw(&term);
cfsetispeed(&term, B57600);
cfsetospeed(&term, B57600);
-
+
if(tcsetattr(r->fd, TCSAFLUSH, &term) < 0 )
{
perror("roomba_open():tcsetattr():");
@@ -165,7 +165,7 @@
r->mode = ROOMBA_MODE_PASSIVE;
usleep(ROOMBA_DELAY_MODECHANGE_MS * 1e3);
-
+
cmdbuf[0] = ROOMBA_OPCODE_CONTROL;
if(write(r->fd, cmdbuf, 1) < 0)
{
@@ -249,8 +249,8 @@
{
// General case: convert rv to turn radius
rad_mm = (int16_t)rint(tv_mm / rv);
- // The robot seems to turn very slowly with the above
- rad_mm /= 2;
+ // The robot seems to turn very slowly with the above
+ rad_mm /= 2;
//printf("real rad_mm: %d\n", rad_mm);
rad_mm = MAX(rad_mm, -ROOMBA_RADIUS_MAX_MM);
rad_mm = MIN(rad_mm, ROOMBA_RADIUS_MAX_MM);
@@ -470,7 +470,7 @@
printf("position: %.3lf %.3lf %.3lf\n", r->ox, r->oy, r->oa);
printf("bumpers: l:%d r:%d\n", r->bumper_left, r->bumper_right);
printf("wall: %d virtual wall: %d\n", r->wall, r->virtual_wall);
- printf("wheeldrops: c:%d l:%d r:%d\n",
+ printf("wheeldrops: c:%d l:%d r:%d\n",
r->wheeldrop_caster, r->wheeldrop_left, r->wheeldrop_right);
printf("cliff: l:%d fl:%d fr:%d r:%d\n",
r->cliff_left, r->cliff_frontleft, r->cliff_frontright,
r->cliff_right);
@@ -482,7 +482,7 @@
printf("buttons: p:%d s:%d c:%d m:%d\n",
r->button_power, r->button_spot, r->button_clean, r->button_max);
printf("charging state: %d\n", r->charging_state);
- printf("battery: voltage:%.3lf current:%.3lf temp:%.3lf charge:%.3lf
capacity:%.3f\n",
+ printf("battery: voltage:%.3lf current:%.3lf temp:%.3lf charge:%.3lf
capacity:%.3f\n",
r->voltage, r->current, r->temperature, r->charge, r->capacity);
}
@@ -512,7 +512,7 @@
return(0);
}
-int
+int
roomba_play_song(roomba_comm_t *r, unsigned char songNumber)
{
unsigned char cmdbuf[2];
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