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// ****************
// ** Data types **
// ****************
// Left and Right
typedef enum {
L,
R
} lr_t;
// Sensor data
typedef struct {
bool IR_left_detected;
bool IR_right_detected;
bool sample_gripper_detected;
bool sample_turret_detected[NUM_TURRET_DIRECTIONS];
bool beacon_detected[NUM_TURRET_DIRECTIONS];
long obstacle_turret_distances[NUM_TURRET_DIRECTIONS];
int compass;
int robot_x[NUM_TURRET_DIRECTIONS];
int robot_y[NUM_TURRET_DIRECTIONS];
int robot_deg[NUM_TURRET_DIRECTIONS];
float robot_curr_x;
float robot_curr_y;
int robot_curr_deg;
} data_t;
enum {
CHANGED_SENS_COMPASS = 1 << 0,
CHANGED_SENS_OBSTACLETURRET = 1 << 1,
CHANGED_SENS_IRLEFT = 1 << 2,
CHANGED_SENS_IRRIGHT = 1 << 3,
CHANGED_SENS_SAMPLETURRET = 1 << 4,
CHANGED_SENS_SAMPLEGRIPPER = 1 << 5
};
// Raspberry Pi Data type declarations
typedef enum {
PI_DATATYPE_COMPASS,
PI_DATATYPE_OBSTACLETURRET,
PI_DATATYPE_IRLEFT,
PI_DATATYPE_IRRIGHT,
PI_DATATYPE_SAMPLETURRET,
PI_DATATYPE_SAMPLEGRIPPER,
PI_DATATYPE_BEACONTURRET,
PI_DATATYPE_LAB,
PI_DATATYPE_MOVETO,
PI_DATATYPE_GRIPPER,
PI_DATATYPE_TURRET,
PI_DATATYPE_ALL
} pi_datatype_t;
// Operation modes
typedef enum {
OPMODE_WAIT,
OPMODE_INITIALSEQUENCE,
OPMODE_RANDOM,
OPMODE_MAPPING,
OPMODE_CHECKSAMPLE,
OPMODE_GRABSAMPLE,
OPMODE_GOTOLABLOCATION,
OPMODE_WAITFORLAB,
OPMODE_FINDMAGNET,
OPMODE_LABSEQUENCE,
OPMODE_ERROR
} opmode_t;
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