/ - Diff - Colony - Robotics Club

Revision 1568

trunk/code/behaviors/formation_control/circle2/circle.h
14	14	#define CIRCLE_ACTION_EXIST 'E'
15	15	#define CIRCLE_ACTION_POSITION 'P'
16	16	#define CIRCLE_ACTION_ACK 'A'
	17	#define CIRCLE_ACTION_DONE 'D'
17	18	//#define EDGE 0;
18	19	//#define BEACON 1;
19	20

     USE_WIRELESS = 1
     # com1 = serial port. Use lpt1 to connect to parallel port.
     AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
     AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM7:'; else echo '/dev/ttyUSB0'; fi)
     else
     COLONYROOT := ../$(COLONYROOT)
     endif

     	With adjustment, the leader robot will be able to turn and use its standardized
     	rangefinder to reposition or space the robots evenly.
     	AuTHORS: Niko, Alex, Reva, Echo, Steve
     	AuTHORS: Nico, Alex, Reva, Echo, Steve
     */
     /*
     TODO:
     	Check BOM more often and before final stop
     	Make BOM check more comprehensively
     	Use the center bot to check distances
     		Check BOM more often and before final stop
     		Make BOM check more comprehensively
     		Use the center bot to check distances
     		Count them ("spam" method)
     		Use beacon to find relative positions
     		Beacon tells them how to move to be at the right distance
     	Wireless communication, initialization
     		*done*Wireless communication, initialization
     */
     void forward(int speed){			// set the motors to this forward speed.
-...
     		temp = range_read_distance(IR2);
     		if (temp == -1)
+    		{
     			temp=0;
     			kk--;
     			//temp=0;
     			i--;
+    		}
     		distance+= temp;
     		else
     			distance+= temp;
     		delay_ms(3);
+    	}
     	if (kk>0)
-...
     	for(int i = 0; i<num; i++)
+    	{
     		orb_set_color(ORB_OFF);
     		delay_ms(200);
     		delay_ms(500);
     		orb_set_color(RED);
     		delay_ms(200);
     		delay_ms(500);
+    	}
     	orb_set_color(ORB_OFF);
+    }
-...
     	/* Initialize the basic wireless library */
     	wl_basic_init_default();
     	/* Set the XBee channel to your assigned channel */
     	wl_set_channel(12);
     	wl_set_channel(24);
     	int robotid = get_robotid();
     	char send_buffer[2];
-...
     	int state = EDGE;
     	int beacon_State=0;
     	int NUM_ROBOTS=2;
     	int robotsRecieved=0;
     	if(wheel()<100)
+    	{
     		state=EDGE;
-...
     						send_buffer[1]=get_robotid();
     						wl_basic_send_global_packet(42,send_buffer,2);
     						break;
+    					}
     					if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK)
+    				}
     				while(1){
     					orb_set_color(RED);
     					packet_data=wl_basic_do_default(&data_length);
     					wl_basic_send_global_packet(42,send_buffer,2);
     					if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE)
+    					{
     						break;
+    					}
+    				}
     				orb_set_color(GREEN);
     				orient();
-...
     				distance = get_distance();
     				while (distance>=onefoot || distance==0)
+    				{
     					if(distance==0)
     						orb_set_color(WHITE);
     					distance = get_distance();
     					orient2();
     					forward(speed);
-...
     			case 1:			// BEACON
     				bom_on();
     				orb_set_color(PURPLE);
     				int numrobots = 0;
     				while(!button1_click())
     				{ }
     				send_buffer[0]=CIRCLE_ACTION_EXIST;
     				send_buffer[1]=get_robotid();
     				wl_basic_send_global_packet(42,send_buffer,2);
     				switch(beacon_State) {
     				case 0:
     					bom_on();
     					orb_set_color(PURPLE);
     					if(button1_click()) beacon_State=1;
     				break;
     				case 1:
     					send_buffer[0]=CIRCLE_ACTION_EXIST;
     					send_buffer[1]=get_robotid();
     					wl_basic_send_global_packet(42,send_buffer,2);
     					beacon_State=2;
     				break;
     				case 2:
     				orb_set_color(ORANGE);
     				packet_data=wl_basic_do_default(&data_length);
     				while(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK)
     				if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK)
+    				{
     					// IF NEEDED: a good place to collect and store the robot id.
     					numrobots++;
     					orb_set_color(WHITE);
     					robotsRecieved++;
+    				}
     				send_buffer[0]=CIRCLE_ACTION_ACK;
     				if(robotsRecieved==NUM_ROBOTS)
     					beacon_State=3;
     				break;
     				case 3:
     				send_buffer[0]=CIRCLE_ACTION_DONE;
     				wl_basic_send_global_packet(42,send_buffer,2);
     				blink(numrobots);
     				break;
+    				}
     			break;
+    		}
+    	}

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