drive.c File Reference

#include <config.h>
#include <stdio.h>
#include <sys/time.h>
#include <time.h>
#include <errno.h>
#include <string.h>
#include <math.h>
#include <drivers/drivers.h>
#include <cartcomm/comm.h>
#include <conf.h>
#include <debug.h>

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Defines
#define	DEBUG_LEVEL   2
#define	SLEEP_OVERHEAD_US   850
Functions
void	drive (drivefunc_t func, void *data)
	The main driving loop.

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Define Documentation

#define DEBUG_LEVEL   2

Definition at line 14 of file drive.c.

#define SLEEP_OVERHEAD_US   850

Definition at line 19 of file drive.c.

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Function Documentation

void drive (  drivefunc_t  func, void *  data )

The main driving loop. Parameters: func  function to on each update data  pointer to pass to func Definition at line 25 of file drive.c. References cartcomm_connect_sync(), cartcomm_decode_msg(), cartcomm_disconnect(), cartcomm_encode_msg(), cartcomm_read_msg(), cartcomm_send_msg(), cframe_t, cframe::cmd_irad, cframe::cmd_mode, cframe::cmd_speed, COMM_PERIOD_US, conf, cframe::cur_irad, DEBUG1, DEBUG2, DEBUG3, conf_t::port, cframe::seqno, conf_t::server, and conf_t::steering_offset. Referenced by main().

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