Update of /cvsroot/playerstage/code/player/server/drivers/mixed/p2os
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27174/server/drivers/mixed/p2os
Modified Files:
Tag: release-2-0-patches
sip.h
Log Message:
merged driver changes from HEAD
Index: sip.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/sip.h,v
retrieving revision 1.7
retrieving revision 1.7.2.1
diff -C2 -d -r1.7 -r1.7.2.1
*** sip.h 15 Feb 2006 17:05:37 -0000 1.7
--- sip.h 24 Apr 2007 22:20:20 -0000 1.7.2.1
***************
*** 1,7 ****
/*
* Player - One Hell of a Robot Server
! * Copyright (C) 2000
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
! *
*
* This program is free software; you can redistribute it and/or modify
--- 1,7 ----
/*
* Player - One Hell of a Robot Server
! * Copyright (C) 2000
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
! *
*
* This program is free software; you can redistribute it and/or modify
***************
*** 44,48 ****
} ArmJoint;
! class SIP
{
private:
--- 44,48 ----
} ArmJoint;
! class SIP
{
private:
***************
*** 54,58 ****
bool lwstall, rwstall;
unsigned char status, battery, sonarreadings, analog, digin, digout;
! unsigned short ptu, compass, timer, rawxpos;
unsigned short rawypos, frontbumpers, rearbumpers;
short angle, lvel, rvel, control;
--- 54,58 ----
bool lwstall, rwstall;
unsigned char status, battery, sonarreadings, analog, digin, digout;
! unsigned short ptu, compass, timer, rawxpos;
unsigned short rawypos, frontbumpers, rearbumpers;
short angle, lvel, rvel, control;
***************
*** 81,84 ****
--- 81,87 ----
ArmJoint *armJoints;
+ // Need this value to calculate approx position of lift when in between up
and down
+ double lastLiftPos;
+
/* returns 0 if Parsed correctly otherwise 1 */
void Parse( unsigned char *buffer );
***************
*** 93,100 ****
void Fill(player_p2os_data_t* data);
! SIP(int idx)
{
param_idx = idx;
! for(int i=0;i<ARRAYSIZE(sonars);i++)
sonars[i] = 0;
--- 96,103 ----
void Fill(player_p2os_data_t* data);
! SIP(int idx)
{
param_idx = idx;
! for(int i=0;i<ARRAYSIZE(sonars);i++)
sonars[i] = 0;
***************
*** 102,106 ****
ypos = INT_MAX;
! // intialise some of the internal values
blobmx = blobmy = blobx1 = blobx2 = bloby1 = bloby2 = blobarea = blobconf
= blobcolor = 0;
armPowerOn = armConnected = false;
--- 105,109 ----
ypos = INT_MAX;
! // intialise some of the internal values
blobmx = blobmy = blobx1 = blobx2 = bloby1 = bloby2 = blobarea = blobconf
= blobcolor = 0;
armPowerOn = armConnected = false;
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