Commit fd47f859 authored by Daniel Flickinger's avatar Daniel Flickinger

small updates (nothing to see here, move along.)

parent 2571d98e
......@@ -3,16 +3,46 @@
* Dan Flickinger
*
*
* RMCD will immediately try to connect to EMCD, get configuration data,
* and then open connections to all robots as sent by EMCD.
*
* Once connections are open, RMCD will wait for commands from EMCD.
*
* After a command is received, RMCD will wait for EMCD to send the
* current position for the robot commanded to move by EMCD. Once the
* current position is received, the move command is relayed to the
* appropriate robot after converting the coordinates into the local
* robot's reference frame.
*
* Upon completion of a command, RMCD will send notice to EMCD, along
* with a position update sent from the robot and converted into the
* global coordinate frame.
*
*
* 2004/12/01
* 2004/12/02
* 2004/12/06
*/
#include<stdio.h>
#include<sys/types.h>
#include<unistd.h>
#include<stdlib.h>
#include<signal.h>
#include<netiten/in.h>
#include<errno.h>
#include<string.h>
#include<sys/socket.h>
#include "rmcd.h"
int main(int argc, char **argv) {
/* You are watching RMCD
* Everything you beleave is wrong.
*/
int FD_emc; // file descripter: EMC
......
/* Robot Master Control Daemon
*
* Dan Flickinger
*
*
* 2004/12/06
* 2004/12/06
*/
#ifndef __RMCD_H__
#define __RMCD_H__
#endif
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