root / trunk / code / behaviors / formation_control / circle / circle.c @ 1691
History | View | Annotate | Download (16 KB)
| 1 |
#include <dragonfly_lib.h> |
|---|---|
| 2 |
#include <wl_basic.h> |
| 3 |
#include <encoders.h> |
| 4 |
#include "circle.h" |
| 5 |
|
| 6 |
int EDGE = 0; |
| 7 |
int BEACON = 1; |
| 8 |
int timeout = 0; |
| 9 |
int sending = 0; |
| 10 |
int stop2 = 0; |
| 11 |
struct vector slave_position;
|
| 12 |
int desired_max_bom;
|
| 13 |
int bom_max_counter;
|
| 14 |
|
| 15 |
//Last used 12,13,7(BOM)
|
| 16 |
void set_desired_max_bom(int desired_angle) |
| 17 |
{
|
| 18 |
if (desired_angle >= 348 || desired_angle < 11) desired_max_bom = 0; |
| 19 |
if (desired_angle >= 11 && desired_angle < 33) desired_max_bom = 1; |
| 20 |
if (desired_angle >= 33 && desired_angle < 56) desired_max_bom = 2; |
| 21 |
if (desired_angle >= 56 && desired_angle < 78) desired_max_bom = 3; |
| 22 |
if (desired_angle >= 78 && desired_angle < 101) desired_max_bom = 4; |
| 23 |
if (desired_angle >= 101 && desired_angle < 123) desired_max_bom = 5; |
| 24 |
if (desired_angle >= 123 && desired_angle < 145) desired_max_bom = 6; |
| 25 |
if (desired_angle >= 145 && desired_angle < 167) desired_max_bom = 7; |
| 26 |
if (desired_angle >= 167 && desired_angle < 190) desired_max_bom = 8; |
| 27 |
if (desired_angle >= 190 && desired_angle < 212) desired_max_bom = 9; |
| 28 |
if (desired_angle >= 212 && desired_angle < 235) desired_max_bom = 10; |
| 29 |
if (desired_angle >= 235 && desired_angle < 257) desired_max_bom = 11; |
| 30 |
if (desired_angle >= 257 && desired_angle < 280) desired_max_bom = 12; |
| 31 |
if (desired_angle >= 280 && desired_angle < 302) desired_max_bom = 13; |
| 32 |
if (desired_angle >= 302 && desired_angle < 325) desired_max_bom = 14; |
| 33 |
if (desired_angle >= 325 && desired_angle < 348) desired_max_bom = 15; |
| 34 |
} |
| 35 |
|
| 36 |
void switch_sending(void) |
| 37 |
{
|
| 38 |
if(sending)
|
| 39 |
{
|
| 40 |
sending = 0;
|
| 41 |
bom_off(); |
| 42 |
} |
| 43 |
else
|
| 44 |
{
|
| 45 |
sending = 1;
|
| 46 |
bom_on(); |
| 47 |
} |
| 48 |
} |
| 49 |
|
| 50 |
/*
|
| 51 |
Current situation:
|
| 52 |
go to the center. ends when each edge robto send "I am here" message
|
| 53 |
|
| 54 |
I think compasses are in the club, but not on the robots?
|
| 55 |
|
| 56 |
Assume we have the compasses, and write pseudocode, maybe?
|
| 57 |
|
| 58 |
TODO:
|
| 59 |
Center:
|
| 60 |
1. Make a move forward method/state to make the circle begin moving as a group.
|
| 61 |
|
| 62 |
Edge:
|
| 63 |
2. Find a way to follow the middle robot and preserve circle structure, or follow a directional command given by the center robot.
|
| 64 |
3. Fix the error case with wireless - if the center robot does not receive the first exist packet, the robot keeps sending it and will cause error later.
|
| 65 |
|
| 66 |
In general:
|
| 67 |
More testing. Especially with robots that are actually working.
|
| 68 |
*/
|
| 69 |
|
| 70 |
|
| 71 |
/*
|
| 72 |
This program is used to make robots target a center (leader) robot using the BOM,
|
| 73 |
then drive toward it and stop at a certain distance away.
|
| 74 |
|
| 75 |
The distance will eventually be adjustable.
|
| 76 |
|
| 77 |
With adjustment, the leader robot will be able to turn and use its standardized
|
| 78 |
rangefinder to reposition or space the robots evenly.
|
| 79 |
|
| 80 |
AuTHORS: Nico, Alex, Reva, Echo, Steve
|
| 81 |
*/
|
| 82 |
|
| 83 |
|
| 84 |
/*
|
| 85 |
TODO:
|
| 86 |
Used: Bots 1, 7
|
| 87 |
16 Performed Badly
|
| 88 |
12 worked ok as beacon, not well as edge
|
| 89 |
|
| 90 |
Fix orient code so the bot does not toggle back and forth when it tries to turn
|
| 91 |
|
| 92 |
Use the center bot to check distances
|
| 93 |
Done--> Count them ("spam" method)
|
| 94 |
Use beacon to find relative positions
|
| 95 |
Beacon tells them how to move to be at the right distance
|
| 96 |
*done*Wireless communication, initialization
|
| 97 |
*/
|
| 98 |
|
| 99 |
|
| 100 |
|
| 101 |
void forward(int speed){ // set the motors to this forward speed. |
| 102 |
motor_l_set(FORWARD,speed); |
| 103 |
motor_r_set(FORWARD,speed); |
| 104 |
} |
| 105 |
void left(int speed){ // turn left at this speed. |
| 106 |
motor_l_set(FORWARD,speed); |
| 107 |
motor_r_set(BACKWARD,speed); |
| 108 |
} |
| 109 |
void right(int speed){ |
| 110 |
motor_l_set(BACKWARD,speed); |
| 111 |
motor_r_set(FORWARD,speed); |
| 112 |
} |
| 113 |
void stop(void){ // could be set to motors_off(), or just use this as an alternative. |
| 114 |
motor_l_set(BACKWARD,0); // stop() is better - motors_off() creates a slight delay to turn them back on. |
| 115 |
motor_r_set(FORWARD,0);
|
| 116 |
} |
| 117 |
void setforward(int spd1, int spd2){ |
| 118 |
motor_l_set(FORWARD,spd1); |
| 119 |
motor_r_set(FORWARD,spd2); |
| 120 |
} |
| 121 |
void backward(int speed){ |
| 122 |
motor_l_set(BACKWARD, speed); |
| 123 |
motor_r_set(BACKWARD, speed); |
| 124 |
} |
| 125 |
int get_distance(void){ // takes an averaged reading of the front rangefinder |
| 126 |
int temp,distance,kk=5; // kk sets this to 5 readings. |
| 127 |
distance =0;
|
| 128 |
for (int i=0; i<kk; i++){ |
| 129 |
temp = range_read_distance(IR2); |
| 130 |
if (temp == -1) |
| 131 |
{
|
| 132 |
//temp=0;
|
| 133 |
i--; |
| 134 |
} |
| 135 |
else
|
| 136 |
distance+= temp; |
| 137 |
delay_ms(3);
|
| 138 |
} |
| 139 |
if (kk>0) |
| 140 |
return (int)(distance/kk); |
| 141 |
else
|
| 142 |
return 0; |
| 143 |
} |
| 144 |
|
| 145 |
|
| 146 |
|
| 147 |
/*
|
| 148 |
Orients the robot so that it is facing the beacon (or the broadcasting BOM).
|
| 149 |
|
| 150 |
*/
|
| 151 |
void correctTurn(void) |
| 152 |
{
|
| 153 |
orb1_set_color(BLUE); // BLUE and PURPLE
|
| 154 |
left(220);
|
| 155 |
while(1) |
| 156 |
{
|
| 157 |
int bomNum = 0; // bomNum is the current maximum reading |
| 158 |
bom_refresh(BOM_ALL); |
| 159 |
bomNum = bom_get_max(); |
| 160 |
usb_puti(bomNum); |
| 161 |
if(bomNum == 4) // when it's turned the right way, stop |
| 162 |
{
|
| 163 |
timeout = 0;
|
| 164 |
//motor_l_set(1, 200);
|
| 165 |
//motor_r_set(1, 200);
|
| 166 |
break; // exits the while() loop to stop the method |
| 167 |
} |
| 168 |
else // facing the wrong way |
| 169 |
{
|
| 170 |
if(bomNum == -1) |
| 171 |
{
|
| 172 |
timeout++; |
| 173 |
|
| 174 |
if(timeout > 5000) // if it's been looking too long, move a little bit as it turns |
| 175 |
{
|
| 176 |
motor_r_set(FORWARD, 210);
|
| 177 |
motor_l_set(BACKWARD, 190);
|
| 178 |
} |
| 179 |
} |
| 180 |
else if((bomNum >= 12) || (bomNum < 4)) |
| 181 |
{
|
| 182 |
motor_l_set(FORWARD, 200);
|
| 183 |
motor_r_set(BACKWARD, 200);
|
| 184 |
timeout = 0;
|
| 185 |
} |
| 186 |
else
|
| 187 |
{
|
| 188 |
motor_l_set(BACKWARD, 200);
|
| 189 |
motor_r_set(FORWARD, 200);
|
| 190 |
timeout = 0;
|
| 191 |
} |
| 192 |
} |
| 193 |
} |
| 194 |
return;
|
| 195 |
} |
| 196 |
|
| 197 |
|
| 198 |
/*
|
| 199 |
This is supposed to (essentially) do a correct turn, then move forward or something.
|
| 200 |
Actually, we should just get rid of this.
|
| 201 |
*/
|
| 202 |
void correctApproach(void) |
| 203 |
{
|
| 204 |
int bomNum = 0; |
| 205 |
bom_refresh(BOM_ALL); |
| 206 |
bomNum = bom_get_max(); |
| 207 |
usb_puti(bomNum); |
| 208 |
if(bomNum == 4) |
| 209 |
{
|
| 210 |
motor_l_set(1, 200); |
| 211 |
motor_r_set(1, 200); |
| 212 |
} |
| 213 |
else
|
| 214 |
{
|
| 215 |
if(bomNum == -1){} |
| 216 |
else if((bomNum >= 12) || (bomNum < 4)) |
| 217 |
{
|
| 218 |
motor_l_set(FORWARD, 200);
|
| 219 |
motor_r_set(BACKWARD, 200);
|
| 220 |
} |
| 221 |
else
|
| 222 |
{
|
| 223 |
motor_l_set(BACKWARD, 200);
|
| 224 |
motor_r_set(FORWARD, 200);
|
| 225 |
} |
| 226 |
delay_ms(100);
|
| 227 |
} |
| 228 |
} |
| 229 |
|
| 230 |
/*
|
| 231 |
drives forward a hardcoded distance. May not be useful.
|
| 232 |
*/
|
| 233 |
void go_straight(void){ |
| 234 |
forward(200);
|
| 235 |
encoder_rst_dx(LEFT); |
| 236 |
encoder_rst_dx(RIGHT); |
| 237 |
delay_ms(100);
|
| 238 |
int x_left = encoder_get_x(LEFT), x_right = encoder_get_x(RIGHT);
|
| 239 |
int count = 0; |
| 240 |
int d;
|
| 241 |
while (count<25){ //count = 25 when bot6; count <12 |
| 242 |
x_left = encoder_get_x(LEFT); |
| 243 |
x_right = encoder_get_x(RIGHT); |
| 244 |
d = x_right-x_left; |
| 245 |
if (d>13 || d<-13){ |
| 246 |
if(d<50 && d>-50){ |
| 247 |
d = round(1.0*d/4); |
| 248 |
setforward(200+d, 200-d); |
| 249 |
} |
| 250 |
} |
| 251 |
delay_ms(32);
|
| 252 |
count++; |
| 253 |
} |
| 254 |
} |
| 255 |
|
| 256 |
|
| 257 |
/*
|
| 258 |
BLINK the given number times
|
| 259 |
*/
|
| 260 |
void blink(int num) { |
| 261 |
for(int i = 0; i<num; i++) |
| 262 |
{
|
| 263 |
orb_set_color(ORB_OFF); |
| 264 |
delay_ms(350);
|
| 265 |
orb_set_color(RED); |
| 266 |
delay_ms(200);
|
| 267 |
} |
| 268 |
orb_set_color(ORB_OFF); |
| 269 |
} |
| 270 |
|
| 271 |
|
| 272 |
|
| 273 |
|
| 274 |
|
| 275 |
|
| 276 |
|
| 277 |
//*****************************************************************************************************************************************************************************************
|
| 278 |
|
| 279 |
|
| 280 |
|
| 281 |
|
| 282 |
|
| 283 |
|
| 284 |
/*
|
| 285 |
A double state machine. The robot is either an "edge" or a "beacon" depending on the initial potentiometer reading.
|
| 286 |
*/
|
| 287 |
int main(void) |
| 288 |
{
|
| 289 |
/* Initialize dragonfly board */
|
| 290 |
dragonfly_init(ALL_ON); |
| 291 |
/* Initialize the basic wireless library */
|
| 292 |
wl_basic_init_default(); |
| 293 |
/* Set the XBee channel to your assigned channel */ /* Set the XBee channel to your assigned channel */ |
| 294 |
wl_set_channel(24);
|
| 295 |
|
| 296 |
int sending_counter = 0; |
| 297 |
int robotid = get_robotid();
|
| 298 |
int used[16]; |
| 299 |
int usedPointer=0; |
| 300 |
for (int i=0; i<16; i++) used[i] = 0; |
| 301 |
char send_buffer[2]; |
| 302 |
int data_length;
|
| 303 |
unsigned char *packet_data=wl_basic_do_default(&data_length); |
| 304 |
|
| 305 |
|
| 306 |
int state = EDGE;
|
| 307 |
int beacon_State=0; |
| 308 |
int edge_State=0; |
| 309 |
int waitingCounter=0; |
| 310 |
int robotsReceived=0; |
| 311 |
int offset = 20, time=0; |
| 312 |
|
| 313 |
if(wheel()<100) |
| 314 |
{
|
| 315 |
state=EDGE; |
| 316 |
} |
| 317 |
else
|
| 318 |
{
|
| 319 |
state=BEACON; |
| 320 |
} |
| 321 |
|
| 322 |
int distance=1000; // how far away to stop. |
| 323 |
int onefoot=250, speed=250; // one foot is 490 for bot 1; one foot is 200 for bot6 |
| 324 |
|
| 325 |
while(1) |
| 326 |
{
|
| 327 |
bom_refresh(BOM_ALL); |
| 328 |
|
| 329 |
/*
|
| 330 |
*******TERMinology**************
|
| 331 |
EDGE=0 other names: slave. Definition: robots on the edge of the circle;
|
| 332 |
BEACON=1 other name: master. Definition: robots in the center of the circle;
|
| 333 |
|
| 334 |
|
| 335 |
*******EXPECTED MOVES **********
|
| 336 |
The designed movement:
|
| 337 |
1. one center robot, several edge robots are on;
|
| 338 |
2. center robots: button 1 is pressed;
|
| 339 |
3. center robots: send global package telling edges that he exists;
|
| 340 |
4. EDGE robots response with ACK.
|
| 341 |
5. EDGE robots wait for center robots to finish counting (DONE package)
|
| 342 |
6. EDGE robtos approach the center robtot and stop at the "onefoot" distance, send message to the center
|
| 343 |
*/
|
| 344 |
|
| 345 |
|
| 346 |
// decide if its is center or not.
|
| 347 |
switch(state)
|
| 348 |
{
|
| 349 |
/**********
|
| 350 |
if EDGE /slave robots
|
| 351 |
*/
|
| 352 |
case 0: |
| 353 |
switch(edge_State)
|
| 354 |
{
|
| 355 |
/*
|
| 356 |
0. EDGE robots are on.
|
| 357 |
1. They are waiting for ExiST pacakage from the Center robots
|
| 358 |
2. After they receive the package, they send ACK package to center.
|
| 359 |
3. Wait the center robot to finish counting all EDGE robots
|
| 360 |
*/
|
| 361 |
case 0: |
| 362 |
bom_off(); |
| 363 |
orb1_set_color(YELLOW);orb2_set_color(CYAN); |
| 364 |
packet_data=wl_basic_do_default(&data_length); |
| 365 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_EXIST) |
| 366 |
{
|
| 367 |
send_buffer[0]=CIRCLE_ACTION_ACK;
|
| 368 |
send_buffer[1]=robotid;
|
| 369 |
|
| 370 |
wl_basic_send_global_packet(42,send_buffer,2); |
| 371 |
edge_State=1;
|
| 372 |
} |
| 373 |
break;
|
| 374 |
/*
|
| 375 |
1. Wait for DONE package
|
| 376 |
2. The counting process is DONE
|
| 377 |
*/
|
| 378 |
case 1: |
| 379 |
|
| 380 |
orb_set_color(YELLOW);orb2_set_color(PURPLE); |
| 381 |
packet_data=wl_basic_do_default(&data_length); |
| 382 |
//wl_basic_send_global_packet(42,send_buffer,2);
|
| 383 |
|
| 384 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE) |
| 385 |
{
|
| 386 |
edge_State=2;
|
| 387 |
} |
| 388 |
break;
|
| 389 |
|
| 390 |
case 2: |
| 391 |
// COLOR afer DONE ---> MAGENTA
|
| 392 |
orb_set_color(MAGENTA); |
| 393 |
correctTurn(); // turn to face the beacon
|
| 394 |
forward(175);
|
| 395 |
//range_init();
|
| 396 |
|
| 397 |
|
| 398 |
distance = get_distance(); |
| 399 |
time=0;
|
| 400 |
while ((distance-offset)>=onefoot || distance==0 || (distance+offset)<onefoot) |
| 401 |
{
|
| 402 |
if(distance==0) |
| 403 |
orb_set_color(WHITE); |
| 404 |
else if(distance-offset>=onefoot) |
| 405 |
forward(175);
|
| 406 |
else
|
| 407 |
backward(175);
|
| 408 |
//correctApproach();
|
| 409 |
distance = get_distance(); |
| 410 |
delay_ms(14);
|
| 411 |
time+=14;
|
| 412 |
if(time>500){ |
| 413 |
correctTurn(); |
| 414 |
time=0;
|
| 415 |
} |
| 416 |
} |
| 417 |
|
| 418 |
stop(); |
| 419 |
orb_set_color(LIME); |
| 420 |
|
| 421 |
send_buffer[0]=CIRCLE_ACTION_ACK;
|
| 422 |
send_buffer[1]=robotid;
|
| 423 |
wl_basic_send_global_packet(42,send_buffer,2); |
| 424 |
|
| 425 |
edge_State=3;
|
| 426 |
break;
|
| 427 |
|
| 428 |
// wait until the beacon sends out its robot ID
|
| 429 |
/*
|
| 430 |
// as we don't check distance to center one by one now,
|
| 431 |
no more private communication at this point.
|
| 432 |
case 3:
|
| 433 |
orb_set_color(YELLOW);
|
| 434 |
orb2_set_color(GREEN);
|
| 435 |
|
| 436 |
packet_data=wl_basic_do_default(&data_length);
|
| 437 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK && packet_data[1]==robotid)
|
| 438 |
{
|
| 439 |
bom_on();
|
| 440 |
orb_set_color(ORANGE);
|
| 441 |
}
|
| 442 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE && packet_data[1]==robotid)
|
| 443 |
{
|
| 444 |
bom_off();
|
| 445 |
orb_set_color(YELLOW);
|
| 446 |
}
|
| 447 |
break;
|
| 448 |
*/
|
| 449 |
} |
| 450 |
|
| 451 |
*/ |
| 452 |
// NEW CODE FROM JOEL
|
| 453 |
/*
|
| 454 |
while(1)
|
| 455 |
{
|
| 456 |
packet_data = wl_basic_do_default(&data_length);
|
| 457 |
|
| 458 |
if(packet_data[0]=='s') stop2=1;
|
| 459 |
if(packet_data[0]=='a') switch_sending();
|
| 460 |
|
| 461 |
if(sending)
|
| 462 |
{
|
| 463 |
|
| 464 |
}
|
| 465 |
|
| 466 |
else // recieving
|
| 467 |
{
|
| 468 |
|
| 469 |
if(stop2)
|
| 470 |
{
|
| 471 |
motor_l_set(FORWARD,0);
|
| 472 |
motor_r_set(FORWARD,0);
|
| 473 |
orb1_set_color(GREEN);
|
| 474 |
}
|
| 475 |
|
| 476 |
else
|
| 477 |
{
|
| 478 |
int max_bom = bom_get_max();
|
| 479 |
/*usb_puts("bom_get_max : ");
|
| 480 |
usb_puti(max_bom);
|
| 481 |
usb_puts("/n/r");*/
|
| 482 |
/*
|
| 483 |
|
| 484 |
if(max_bom == 8)
|
| 485 |
{
|
| 486 |
orb2_set_color(BLUE);
|
| 487 |
motor_r_set(FORWARD,180);
|
| 488 |
motor_l_set(FORWARD,180);
|
| 489 |
|
| 490 |
}
|
| 491 |
else if(max_bom == 7 || max_bom == 6 || max_bom == 5)
|
| 492 |
{
|
| 493 |
motor_l_set(FORWARD,180);
|
| 494 |
motor_r_set(FORWARD,0);
|
| 495 |
}
|
| 496 |
else if(max_bom == -1);
|
| 497 |
else
|
| 498 |
{
|
| 499 |
orb2_set_color(GREEN);
|
| 500 |
motor_l_set(FORWARD,0);
|
| 501 |
motor_r_set(FORWARD,180);
|
| 502 |
}
|
| 503 |
}
|
| 504 |
|
| 505 |
}
|
| 506 |
|
| 507 |
delay_ms(10);
|
| 508 |
|
| 509 |
} //end while
|
| 510 |
*/
|
| 511 |
//break;
|
| 512 |
|
| 513 |
// END for EDGE robots
|
| 514 |
|
| 515 |
|
| 516 |
|
| 517 |
|
| 518 |
|
| 519 |
|
| 520 |
|
| 521 |
//*****************************************************************************************************************************************************************************************
|
| 522 |
|
| 523 |
|
| 524 |
|
| 525 |
|
| 526 |
|
| 527 |
|
| 528 |
|
| 529 |
/*
|
| 530 |
The CENTER/BEACON/MASTER robot
|
| 531 |
*/
|
| 532 |
case 1: // BEACON /master /enter robots |
| 533 |
switch(beacon_State) {
|
| 534 |
/*
|
| 535 |
0. center robots on wait for pressing button 1
|
| 536 |
*/
|
| 537 |
case 0: |
| 538 |
bom_on(); |
| 539 |
orb_set_color(PURPLE); |
| 540 |
if(button1_click()) beacon_State=1; |
| 541 |
break;
|
| 542 |
/*
|
| 543 |
1. Send EXIST package to EDGE robots
|
| 544 |
*/
|
| 545 |
case 1: // sends a global exist packet to see how many robots there are |
| 546 |
orb_set_color(RED); |
| 547 |
send_buffer[0]=CIRCLE_ACTION_EXIST;
|
| 548 |
send_buffer[1]=get_robotid();
|
| 549 |
wl_basic_send_global_packet(42,send_buffer,2); |
| 550 |
usedPointer = 0;
|
| 551 |
beacon_State=2;
|
| 552 |
// wait for the edge to send for 1sec.
|
| 553 |
delay_ms(1000);
|
| 554 |
break;
|
| 555 |
/*
|
| 556 |
2. Count the number of the EDGE robots
|
| 557 |
*******NOTE: at most 1500 times of loop ******
|
| 558 |
*/
|
| 559 |
case 2: |
| 560 |
waitingCounter++; |
| 561 |
orb1_set_color(YELLOW); |
| 562 |
orb2_set_color(BLUE); |
| 563 |
packet_data=wl_basic_do_default(&data_length); |
| 564 |
|
| 565 |
if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 566 |
{
|
| 567 |
orb_set_color(RED); |
| 568 |
orb2_set_color(BLUE); |
| 569 |
//only add to robots seen if you haven't gotten an ACK from this robot
|
| 570 |
if(used[packet_data[1]]==0){ |
| 571 |
robotsReceived++; |
| 572 |
used[usedPointer] = packet_data[1];
|
| 573 |
usedPointer++; |
| 574 |
|
| 575 |
usb_puts("Added: ");
|
| 576 |
usb_puti(packet_data[1]);
|
| 577 |
usb_puts("\r\n");
|
| 578 |
} |
| 579 |
} |
| 580 |
if(waitingCounter >= 2000){ |
| 581 |
beacon_State=3;
|
| 582 |
} |
| 583 |
break;
|
| 584 |
/*
|
| 585 |
COUNTing is DONE.
|
| 586 |
Sending DONE package.
|
| 587 |
*/
|
| 588 |
case 3: |
| 589 |
blink(robotsReceived); |
| 590 |
orb_set_color(GREEN); |
| 591 |
send_buffer[0]=CIRCLE_ACTION_DONE;
|
| 592 |
wl_basic_send_global_packet(42,send_buffer,2); |
| 593 |
beacon_State=4;
|
| 594 |
break;
|
| 595 |
/*
|
| 596 |
Wait for all the robots to get to right distance/position
|
| 597 |
*/
|
| 598 |
case 4: |
| 599 |
orb1_set_color(YELLOW); |
| 600 |
orb2_set_color(WHITE); |
| 601 |
|
| 602 |
int numOk = 0; |
| 603 |
|
| 604 |
while(numOk<robotsReceived)
|
| 605 |
{
|
| 606 |
packet_data=wl_basic_do_default(&data_length); |
| 607 |
if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 608 |
{
|
| 609 |
numOk++; |
| 610 |
} |
| 611 |
} |
| 612 |
|
| 613 |
beacon_State = 5;
|
| 614 |
break;
|
| 615 |
|
| 616 |
/**
|
| 617 |
TODO: no need for "private" communication if we don't check distance one by one
|
| 618 |
So comment out this part at least for now.
|
| 619 |
|
| 620 |
Starts repositioning the edge robots one by one
|
| 621 |
*/
|
| 622 |
/* case 5:
|
| 623 |
orb_set_color(MAGENTA);
|
| 624 |
bom_off();
|
| 625 |
for(int i=0; i<robotsReceived; i++)
|
| 626 |
|
| 627 |
{
|
| 628 |
usb_puts("used = ");
|
| 629 |
usb_puti(used[i]);
|
| 630 |
usb_puts("\r\n");
|
| 631 |
send_buffer[0]=CIRCLE_ACTION_ACK;
|
| 632 |
send_buffer[1]=used[i];
|
| 633 |
wl_basic_send_global_packet(42,send_buffer,2);
|
| 634 |
|
| 635 |
delay_ms(1000);
|
| 636 |
|
| 637 |
send_buffer[0]=CIRCLE_ACTION_DONE;
|
| 638 |
send_buffer[1]=used[i];
|
| 639 |
wl_basic_send_global_packet(42,send_buffer,2);
|
| 640 |
|
| 641 |
delay_ms(1000);
|
| 642 |
}
|
| 643 |
*/
|
| 644 |
|
| 645 |
/*orb_set_color(BLUE);
|
| 646 |
// clock for switching the BOMs between the master and slave
|
| 647 |
if(sending_counter++>4)
|
| 648 |
{
|
| 649 |
switch_sending();
|
| 650 |
sending_counter = 0;
|
| 651 |
send_buffer[0] = 'a';
|
| 652 |
wl_basic_send_global_packet(42, send_buffer, 1);
|
| 653 |
}
|
| 654 |
|
| 655 |
|
| 656 |
if(sending)
|
| 657 |
{
|
| 658 |
|
| 659 |
}
|
| 660 |
|
| 661 |
else // recieving
|
| 662 |
{
|
| 663 |
int max_bom = bom_get_max();
|
| 664 |
usb_puts("bom_get_max : ");
|
| 665 |
usb_puti(max_bom);
|
| 666 |
usb_puts("\n\r");
|
| 667 |
|
| 668 |
if(max_bom == desired_max_bom)
|
| 669 |
{
|
| 670 |
// only stops the slave if two consecutive boms
|
| 671 |
// reading give the desired bom as the max one. Filters the noise.
|
| 672 |
if(bom_max_counter)
|
| 673 |
{
|
| 674 |
send_buffer[0] = 's';
|
| 675 |
wl_basic_send_global_packet(42, send_buffer, 2);
|
| 676 |
}
|
| 677 |
bom_max_counter =1;
|
| 678 |
}
|
| 679 |
else bom_max_counter = 0;
|
| 680 |
|
| 681 |
}
|
| 682 |
*/
|
| 683 |
//break;
|
| 684 |
} |
| 685 |
} |
| 686 |
} |
| 687 |
|
| 688 |
orb_set_color(RED); |
| 689 |
while(1); /* END HERE */ |
| 690 |
|
| 691 |
//return 0;
|
| 692 |
} |