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Proxim RangeLAN2 7920 Manual do Utilizador Página 41

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26
Figure 15. Program Interaction and SOCKETS
B. CONTROL PROGRAM
The control program (Alltask.c) for the SMART robot is written in Dynamic C
and controls all tasks of the robot in a cooperative multitasking environment (figure 18).
The program has five costates that perform the basic functions of the robot: manual motor
control, GPS and compass update, navigation, stop navigation and web page server.
These costates interact with the JAVA control application and with other functions within
the Alltask.c program to govern operation of the robot.
Send
Desired
Heading or
GPS
Navigation
Costate
DHeadLocsock 2003
Motor
Control
Sliders &
Buttons
Manual
Motor
Control
Costate
Motorsock 2000
Heading &
GPS
Update
Update
Costate
Headsock 2001
GPSsock 2002
End
Navigation
Routine
Stop
Navigation
Costate
Stopnavsock 2004
Web
Server
Costate
C Control
Program
JAVA
Application
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