externalPose.h File Reference

Provides a consistent API for updating and accessing the external pose of the robot swarm. More...

Go to the source code of this file.

Data Structures
struct	ExternalPose
	External pose of the robot as determined by an outside ASCII radio command system. More...

Typedefs
typedef struct ExternalPose	ExternalPose
	External pose of the robot as determined by an outside ASCII radio command system.

Functions
void	externalPoseInit (void)
	sets up memory and radio callbacks for getting external pose data. More...
boolean	externalPoseGet (ExternalPose *poseArg)
	Gets this robot's pose. More...
boolean	externalPoseGetNbr (ExternalPose *poseArg, Nbr *nbrPtr)
	Gets the pose of a given neighbor. More...
int32	externalPoseGetNbrRange (Nbr *nbrPtr)
	Gets the distance to a given neighbor's external pose. More...
boolean	externalPoseIsHost (void)
	Determines if this is "the Host" (the robot connected over serial to external system). More...
boolean	externalPoseIsActive (void)
	Determines if the external pose is active or inactive. More...

Detailed Description

Provides a consistent API for updating and accessing the external pose of the robot swarm.

This was developed as an interface between poses provided by the Newton Cam and the AprilTag system, but will work for any system that provides ASCII radio commands of the form:

            "EP, ID, X,Y,theta"

Where 'X','Y','theta' are integers. To use this, call externalPoseInit(); in your behaviorTask()

See Also

"\robotcode\AprilTagReader\src\AprilTagReaderUsageExample.c"

Since

November 28, 2012

Author

James McLurkin

Function Documentation

boolean externalPoseGet

(

ExternalPose *

poseArg)

Gets this robot's pose.

Parameters

poseArg

(overwritten if external pose is active with external pose data)

Returns

TRUE if external pose is active

boolean externalPoseGetNbr	(	ExternalPose *	poseArg,
		Nbr *	nbrPtr
	)

Gets the pose of a given neighbor.

Parameters

poseArg	(overwritten with external pose data if external pose is active and a neighbor)
nbrPtr	robot we want to know the external pose of

Returns

TRUE if external pose is active AND this neighbor exists

int32 externalPoseGetNbrRange

(

Nbr *

nbrPtr)

Gets the distance to a given neighbor's external pose.

Parameters

nbrPtr

for robot we want to know the distance from

Returns

the distance to the given neighbor's external pose.

void externalPoseInit

(

void

)

sets up memory and radio callbacks for getting external pose data.

Should be called once in behaviorTask.

Returns

void

boolean externalPoseIsActive

(

void

)

Determines if the external pose is active or inactive.

Returns

TRUE if external pose is active or FALSE if not

boolean externalPoseIsHost

(

void

)

Determines if this is "the Host" (the robot connected over serial to external system).

Returns

TRUE if this is the host or FALSE