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server
drivers
mixed
erratic
erratic/motorpacket.h
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/*
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* Player - One Hell of a Robot Server
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* Copyright (C) 2000
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* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
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*
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/*
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* $Id$
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*
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* part of the P2OS parser. methods for filling and parsing server
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* information packets (ErraticMotorPackets)
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*/
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#ifndef _ErraticMotorPacket_H
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#define _ErraticMotorPacket_H
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#include <limits.h>
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#include "erratic.h"
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class
ErraticMotorPacket
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{
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private
:
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int
PositionChange(
unsigned
short
,
unsigned
short
);
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int
param_idx;
// index of our robot's data in the parameter table
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public
:
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// these values are returned in every standard ErraticMotorPacket
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bool
lwstall, rwstall;
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unsigned
char
status, battery;
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unsigned
short
ptu, timer, rawxpos;
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unsigned
short
rawypos;
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short
angle, lvel, rvel, control;
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int
xpos, ypos;
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int
x_offset,y_offset,angle_offset;
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bool
Parse(
unsigned
char
*buffer,
int
length );
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void
Print();
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void
Fill(player_erratic_data_t* data);
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ErraticMotorPacket
(
int
idx)
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{
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param_idx = idx;
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xpos = INT_MAX;
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ypos = INT_MAX;
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}
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};
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#endif
ErraticMotorPacket
Definition
erratic/motorpacket.h:38
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