Colony - / - Diff - Robotics Club

Revision 1774

     int EDGE_MACHINE = 3;
     int BEACON_MACHINE = 4;
     int COUNT = 0;
     int CIRCLEUP = 1;
     int ORIENT = 2;
     int DRIVE = 3;
     int currentPos = 0;
     int state = 0;
     int timeout = 0;
     int sending = 0;
     int stop2 = 0;
-...
     	orb_set_color(ORB_OFF);
+    }
     void order(int action)
+    {
     	currentPos++;
     	send2(CIRCLE_EXECUTE, action);
     	state = 20 + action;
+    }
     void terminate(void)
+    {
     	send2(CIRCLE_EXECUTE, 100);
     	orb_set_color(GREEN);
     	orb2_set_color(WHITE);
     	while(1) ;
+    }
     //*****************************************************************************************************************************************************************************************
     //*****************************************************************************************************************************************************************************************
     //*****************************************************************************************************************************************************************************************
-...
     	int data_length;		// keeps track of the length of wireless packets received.
     	unsigned char *packet_data=wl_basic_do_default(&data_length);
     	int state = WAITINGSTATE;
     	int beacon_State=0;		// these variables keep track of the inner state machines in the procedural MACHINE states.
     	int edge_State=0;
-...
     			*/
     			case 0:
     				orb_set_color(YELLOW);
     				packet_data=wl_basic_do_default(&data_length);
     				if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_CLAIM_CENTER)
+    				{
-...
     			*/
     			case 1:
     				orb_set_color(CYAN);
     				orb1_set_color(YELLOW);
     				int command = -1;
     				packet_data=wl_basic_do_default(&data_length);
     				if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_EXECUTE)
+    				{
     					command = packet_data[1];
+    				}
     				if(command != -1)
+    				{
     					switch(command)
+    					{
     						case 0:
     							state = 10; break;
     						case 1:
     							state = 11; break;
     						case 2:
     							state = 12; break;
     						case 3:
     							state = 13; break;
     						case 100:
     							terminate(); break;
+    					}
+    				}
     			break;
-...
     				commands, for a robot to follow if it is set to a BEACON.
     			*/
     			case 2:
     				orb_set_color(PURPLE);
     				switch(currentPos)
+    				{
     					case 0:
     						order(COUNT);	break;
     					case 1:
     						order(CIRCLEUP); break;
     					case 2:
     						order(ORIENT); break;
     					case 3:
     						order(DRIVE); break;
     					case 4:
     						terminate(); break;
+    				}
     			break;
-...
     //***********************************************************************************************************************************************************************************
     			/* The following states are MACHINE states for the EDGE robot. */
     			/*
     				The MACHINE for the EDGE state.
     				EDGE on COUNT
     			*/
     			case 3:
     			case 10:
     				edge_State = 0;
     				switch(edge_State)
+    				{
     					/*
-...
 . After they receive the package, they send ACK package to center.
 . Done for now: display green.
     					*/
     					case 0:
     					case 0:
     						bom_off();
     						orb1_set_color(YELLOW);
     						orb2_set_color(CYAN);
-...
     						packet_data=wl_basic_do_default(&data_length);
     						if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE && packet_data[1] == centerid)
+    						{
     							edge_State=3;
     							state = 1;
+    						}
     					break;
+    				}
     			break;
     			/* The CIRCLEUP command for EDGE */
     			case 11:
     				edge_State = 0;
     				switch(edge_State)
+    				{
     					case 3:
     					case 0:
     						// COLOR afer DONE ---> MAGENTA
     						orb_set_color(MAGENTA);
     						correctTurn();			// turn to face the beacon
-...
     						send2(CIRCLE_ACTION_ACK, robotid);
     						stop();
     						edge_State=4;
     						state = 1;
     					break;
+    				}
     			break;
     			/* An ORIENT series of steps for the EDGE robot. */
     			case 12:
     				edge_State = 0;
     				switch(edge_State)
+    				{
     					// waits for a packet to tell it to turn on the bom.
     					case 4:
     					case 0:
     						packet_data=wl_basic_do_default(&data_length);
     						if(packet_data != 0 && data_length==2 && packet_data[0]==CIRCLE_ACTION_GOTYOU && packet_data[1] == robotid)
+    						{
     							bom_on();
     							orb_set_color(ORANGE);
     							send2(CIRCLE_ACTION_ACK,centerid);
     							edge_State = 5;
     							edge_State = 1;
+    						}
     					break;
     					// waits for a packet to tell it that it has been received.
     					case 5:
     					case 1:
     						orb2_set_color(YELLOW);
     						packet_data=wl_basic_do_default(&data_length);
     						if(packet_data != 0 && data_length==3 && packet_data[0]==CIRCLE_ACTION_GOTYOU && packet_data[1] == robotid)
-...
     							bom_off();
     							direction = packet_data[2];
     							orb_set_color(YELLOW);
     							edge_State = 6;
     							edge_State = 2;
+    						}
     					break;
     					/* Wait for the center bot to send a DONE packet; then turn to face the right direction. */
     					case 6:
     					case 2:
     						orb_set_color(GREEN);
     						packet_data=wl_basic_do_default(&data_length);
     						if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE)
+    						{
     							orb_set_color(WHITE);
     							orb2_set_color(CYAN);
     							edge_State = 7;
     							edge_State = 3;
+    						}
     					break;
     					/* Turn until we reach the right direction (DIRECTION) */
     					case 7:
     					case 3:
     						left(170);
     						bom_refresh(BOM_ALL);
     						if(bom_get_max() == direction)
+    						{
     							stop();
     							orb_set_color(YELLOW);
     							edge_State = 8;
     							state = 1;
+    						}
     					break;
+    				}
     			break;
     			/* The MOVE steps for the EDGE robot */
     			case 13:
     				edge_State = 0;
     				switch(edge_State)
+    				{
     					/* Wait for the command to move forward. */
     					case 8:
     					case 0:
     						packet_data=wl_basic_do_default(&data_length);
     						if(packet_data != 0 && data_length>=3 && packet_data[0]==CIRCLE_ACTION_FORWARD)
+    						{
     							orb_set_color(BLUE);
     							forward(200);
     							delay_ms(2000);
     							edge_State = END;
     							edge_State = 1;
+    						}
     					break;
     					/* Terminal. */
     					case 100:
     					case 1:
     						stop();
     						orb_set_color(GREEN);
     						orb2_set_color(WHITE);
     						while(1);
     						state = 1;
     					break;
-...
     			/*
     			   The MACHINE for the BEACON state
     			*/
     			case 4:
     			*/
     			/* the COUNT code for the BEACON */
     			case 20:
     				beacon_State = 0;
     				switch(beacon_State)
+    				{
-...
     					case 0:
     						bom_on();
     						orb_set_color(PURPLE);
     						robotsReceived = 0;
     						if(button1_click()) beacon_State=1;
     					break;
-...
     						blink(robotsReceived);
     						orb_set_color(GREEN);
     						send2(CIRCLE_ACTION_DONE, robotid);
     						beacon_State=4;
     						state = 2;
     					break;
+    				}
     			break;
     			/* The CIRCLEUP method for BEACON */
     			case 21:
     				beacon_State = 0;
     				switch(beacon_State)
+    				{
     					/* Wait for all the robots to get to right distance/position */
     					case 4:
     					case 0:
     						left(170);
     						orb1_set_color(YELLOW);
     						orb2_set_color(WHITE);
-...
+    							}
+    						}
     						beacon_State = 5;
     					break;
     						state = 2;
     					break;
+    				}
     			break;
     			/* The ORIENT code for the beacon */
     			case 22:
     				beacon_State = 0;
     				switch(beacon_State)
+    				{
     					/* Turns all the robots in the same direction */
     					case 5:
     					case 0:
     						stop();
     						bom_off();
     						orb_set_color(ORANGE);
-...
     								delay_ms(20);
+    							}
+    						}
     						beacon_State = 6;
     						beacon_State = 1;
     					break;
     					/* Sends a DONE packet to signify that it has read in all the robots' directions and sent packets.
     						Edge robots should now turn to face the right direction. */
     					case 6:
     					case 1:
     						send2(CIRCLE_ACTION_DONE,robotid);
     						bom_on();
     						beacon_State = 7;
     						state = 2;
     					break;
+    				}
     			break;
     			/* The DRIVE code for the beacon */
     			case 23:
     				beacon_State = 0;
     				switch(beacon_State)
+    				{
     					/* Tells the robots to move forward and moves itself. */
     					case 7:
     					case 2:
     						orb_set_color(YELLOW);
     						delay_ms(5000);
     						// format: type of ack, speed, time.
     						send3(CIRCLE_ACTION_FORWARD,200,2000);
     						send3(CIRCLE_ACTION_FORWARD,200,200);
     						orb_set_color(BLUE);
     						forward(200);
     						delay_ms(2000);
     						stop();
     						beacon_State = END;
     						beacon_State = 3;
     					break;
     					/* Terminal. */
     					case 100:
     					case 3:
     						stop();
     						orb_set_color(GREEN);
     						orb2_set_color(WHITE);
     						while(1);
     						state = 2;
     					break;
+    				}
     			break;

     /**** This file should not be edited! ****/
     /*
      * The packet structure is 2 bytes
      * The packet structure is 2 bytes (or 3!)
      * byte 0 is the action, which is one of the values below
      * byte 1 is the robot id
      */
-...
     #define CIRCLE_ACTION_GOTYOU 'G'
     #define CIRCLE_ACTION_FORWARD 'F'
     #define CIRCLE_CLAIM_CENTER 'C'
     #define CIRCLE_EXECUTE 'X'
     #endif

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