Colony

// BFS FSM header file

#ifndef _BFS_FSM_H_

#define _BFS_FSM_H_

//The States:

#define BFS_SEEK      12           //do run around

#define BFS_FOLLOW    13           //follow other robots to location

#define BFS_ORBIT     15           //Orbit robot

#define BFS_STOP      16           //Stop.  The default and ending state

#define BFS_STRAIGHT_SPEED 170

#define BFS_SLOW_DISTANCE 250

#define BFS_SLOW_SPEED    160

#define BFS_ORBIT_DISTANCE 175 /* distance to start orbit around robot */

#define BFS_STOP_DISTANCE 120 /* distance to stop for object */

#define BFS_MAX_ROBOTS 20 /* max id of robot in project */

#define BFS_NO_VAL 255

#define BFS_CHECK_ID_TIME 100

int bfs_state;    /*State machine variable.*/

int bfs_speed;

int bfs_otherRobot; /* the robot we are seeking */

int bfs_my_id; /* my wireless id */

int bfs_follow_id; /* robot to follow */

int bfs_check_id; /* timer to check robot id to follow */

int bfs_pControl;                /*Proportional control variable, determines turn direction.*/

int bfs_d1,bfs_d2,bfs_d3,bfs_d4,bfs_d5;        /*The five distances taken in by IR.*/

int bfs_bom; /* bom data */

int bfs_bom_count;

#define BFS_MAX_BOM_COUNT 5 /* number of missing bom packets before reverting to seek state */

/* bfs_init

   argument: robot_id that you want to find

   notes: must call before bfs_fsm

*/

void bfs_init(int robot);

/* bfs_fsm

   argument: none

   notes: call in a while loop to perform FSM action

*/

void bfs_fsm(void);

#endif