motorpacket.h
/*
* 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
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/*
* $Id: motorpacket.h 4308 2007-12-13 20:23:08Z gerkey $
*
* part of the P2OS parser. methods for filling and parsing server
* information packets (ErraticMotorPackets)
*/
#ifndef _ErraticMotorPacket_H
#define _ErraticMotorPacket_H
#include <limits.h>
#include "erratic.h"
class ErraticMotorPacket
{
private:
int PositionChange( unsigned short, unsigned short );
int param_idx; // index of our robot's data in the parameter table
public:
// these values are returned in every standard ErraticMotorPacket
bool lwstall, rwstall;
unsigned char status, battery;
unsigned short ptu, timer, rawxpos;
unsigned short rawypos;
short angle, lvel, rvel, control;
int xpos, ypos;
int x_offset,y_offset,angle_offset;
bool Parse( unsigned char *buffer, int length );
void Print();
void Fill(player_erratic_data_t* data);
ErraticMotorPacket(int idx)
{
param_idx = idx;
xpos = INT_MAX;
ypos = INT_MAX;
}
};
#endif
ErraticMotorPacket
Definition: motorpacket.h:37

Last updated 12 September 2005 21:38:45