root / trunk / code / behaviors / formation_control / circle / circle.c @ 1776
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| 1 | |
|---|---|
| 2 | /*** PROGRAM INFORMATION ***
|
| 3 | |
| 4 | This program assembles a group of robots into a circle and allows them movement |
| 5 | within that formation. Robots should be able to break formation and travel as a |
| 6 | line, readjust in the face of obstacles, and reform if conditions are necessary. |
| 7 | |
| 8 | The program begins waiting for a button press. When pressed, a robot assumes the |
| 9 | BEACON position, which means that it is the robot in the center of the circle and |
| 10 | therefore in charge. It then gathers robots around it by sending them commands. |
| 11 | This code is executed using two finite state machines, nested inside one another. |
| 12 | One controls the overall state of the robot (whether it is a BEACON, an EDGE, or |
| 13 | WAITING, for example). |
| 14 | |
| 15 | This code should be implemented so that most useful functions are built in to the |
| 16 | machine. For example, the BEACON robot should be able to call methods such as |
| 17 | CircleUp() to gather robots around it, and Move(distance) to move the circle group |
| 18 | all at once. |
| 19 | |
| 20 | This Code is the property of the Carnegie Mellon Robotics Club and is being used |
| 21 | to test formation control in a low-cost robot colony. Thanks to all members of |
| 22 | RoboClub, especially Colony president John Sexton and the ever-present Chris Mar. |
| 23 | |
| 24 | AUTHORS: James Carroll, Steve DeVincentis, Hanzhang (Echo) Hu, Nico Paris, Joel Rey, |
| 25 | Reva Street, Alex Zirbel */ |
| 26 | |
| 27 | |
| 28 | #include <dragonfly_lib.h> |
| 29 | #include <wl_basic.h> |
| 30 | #include <encoders.h> |
| 31 | #include "circle.h" |
| 32 | |
| 33 | /*** TODO: ***
|
| 34 | |
| 35 | - Transform the code into a method-based state machine that uses the procedural state |
| 36 | machines, which are hardcoded and hard to edit, as a backup. |
| 37 | - Implement a drive straight method for use in keeping the robots more accurate as a |
| 38 | group. |
| 39 | - Fix the approach method: good robots usually work well, but bad robots often have |
| 40 | errors which might be avoidable with the use of error checking. |
| 41 | - Make robots more robust: packages are often lost, which throws the entire procedural |
| 42 | nature of the program off. |
| 43 | - Consider using the center bot to check distances |
| 44 | - More testing is always good and necessary. */ |
| 45 | |
| 46 | /*** BOT LOG ***
|
| 47 | |
| 48 | 4-1-2010: BOT 7 as BEACON and BOT 1 as EDGE worked extremely well. |
| 49 | 4-2-2010: BOT 7 and BOT 14 worked extremely well, no matter states. BOT 1 started |
| 50 | well, but malfunctioned later. */ |
| 51 | |
| 52 | /*** TERMINOLOGY ***
|
| 53 | |
| 54 | WAITINGSTATE: |
| 55 | The robot waits to be given a signal to do something. Wireless is on, in |
| 56 | case the robot is called on to turn into an EDGE. The color should be LIME |
| 57 | or YELLOW-GREEN. |
| 58 | |
| 59 | BEACON_CONTROL: |
| 60 | The code that executes commands when a robot is turned to BEACON mode. This |
| 61 | code may run predefined methods for simplicity. One goal is to make these |
| 62 | methods change the robot turn to to BEACON_MACHINE mode for a while, and then |
| 63 | return to the CONTROL code where they left off. |
| 64 | |
| 65 | EDGE_CONTROL: |
| 66 | Like BEACON_CONTROL, executes whatever orders are required of the robot as an |
| 67 | EDGE. |
| 68 | |
| 69 | BEACON_MACHINE: |
| 70 | A hardcoded list of functions which the robot is capable of running through. |
| 71 | Consists of a finite state machine, where the robot executes a set of commands |
| 72 | in a procedural manner and then returns to wherever it was in the control code. |
| 73 | |
| 74 | EDGE_MACHINE: |
| 75 | Like the BEACON_MACHINE, but contains the same sort of procedural information |
| 76 | for EDGE robots. |
| 77 | |
| 78 | END: |
| 79 | A terminal state of the machine, where the robot just sits and waits. The |
| 80 | color should be GREEN and WHITE. |
| 81 | |
| 82 | |
| 83 | TYPES OF WIRELESS PACKETS: |
| 84 | CIRCLE_ACTION_EXIST 'E' |
| 85 | CIRCLE_ACTION_POSITION 'P' |
| 86 | CIRCLE_ACTION_ACK 'A' |
| 87 | A general acknowledgement package. |
| 88 | CIRCLE_ACTION_DONE 'D' |
| 89 | Used by robots to tell when they have finished their action. |
| 90 | CIRCLE_ACTION_GOTYOU 'G' |
| 91 | Used by the BEACON to tell a robot when it has been checked off. |
| 92 | At this point, the EDGE has been recognized. Used for times when |
| 93 | all EDGE robots have to communicate to the center via the spam method. |
| 94 | CIRCLE_ACTION_FORWARD 'F' |
| 95 | The BEACON tells the rest of the robots to move forward. |
| 96 | CIRCLE_CLAIM_CENTER 'C' |
| 97 | Sent out by a robot when it takes over as BEACON. */ |
| 98 | |
| 99 | |
| 100 | |
| 101 | int END = 100; |
| 102 | int WAITINGSTATE = 0; /* Define some variables to keep track of the state machine.*/ |
| 103 | int EDGE_CONTROL = 1; |
| 104 | int BEACON_CONTROL = 2; |
| 105 | int EDGE_MACHINE = 3; |
| 106 | int BEACON_MACHINE = 4; |
| 107 | |
| 108 | int COUNT = 0; |
| 109 | int CIRCLEUP = 1; |
| 110 | int ORIENT = 2; |
| 111 | int DRIVE = 3; |
| 112 | |
| 113 | int currentPos = 0; |
| 114 | int state = 0; |
| 115 | |
| 116 | |
| 117 | int timeout = 0; |
| 118 | int sending = 0; |
| 119 | int stop2 = 0; |
| 120 | struct vector slave_position;
|
| 121 | int desired_max_bom;
|
| 122 | int bom_max_counter;
|
| 123 | |
| 124 | |
| 125 | void switch_sending(void) |
| 126 | {
|
| 127 | if(sending)
|
| 128 | {
|
| 129 | sending = 0;
|
| 130 | bom_off(); |
| 131 | } |
| 132 | else
|
| 133 | {
|
| 134 | sending = 1;
|
| 135 | bom_on(); |
| 136 | } |
| 137 | } |
| 138 | |
| 139 | void forward(int speed){ // set the motors to this forward speed. |
| 140 | motor_l_set(FORWARD,speed); |
| 141 | motor_r_set(FORWARD,speed); |
| 142 | } |
| 143 | void left(int speed){ // turn left at this speed. |
| 144 | motor_l_set(FORWARD,speed); |
| 145 | motor_r_set(BACKWARD,speed); |
| 146 | } |
| 147 | void right(int speed){ |
| 148 | motor_l_set(BACKWARD,speed); |
| 149 | motor_r_set(FORWARD,speed); |
| 150 | } |
| 151 | void stop(void){ // could be set to motors_off(), or just use this as an alternative. |
| 152 | motor_l_set(BACKWARD,0); // stop() is better - motors_off() creates a slight delay to turn them back on. |
| 153 | motor_r_set(FORWARD,0);
|
| 154 | } |
| 155 | void setforward(int spd1, int spd2){ |
| 156 | motor_l_set(FORWARD,spd1); |
| 157 | motor_r_set(FORWARD,spd2); |
| 158 | } |
| 159 | void backward(int speed){ |
| 160 | motor_l_set(BACKWARD, speed); |
| 161 | motor_r_set(BACKWARD, speed); |
| 162 | } |
| 163 | int get_distance(void){ // takes an averaged reading of the front rangefinder |
| 164 | int temp,distance,kk=5; // kk sets this to 5 readings. |
| 165 | distance =0;
|
| 166 | for (int i=0; i<kk; i++){ |
| 167 | temp = range_read_distance(IR2); |
| 168 | if (temp == -1) |
| 169 | {
|
| 170 | //temp=0;
|
| 171 | i--; |
| 172 | } |
| 173 | else
|
| 174 | distance+= temp; |
| 175 | delay_ms(3);
|
| 176 | } |
| 177 | if (kk>0) |
| 178 | return (int)(distance/kk); |
| 179 | else
|
| 180 | return 0; |
| 181 | } |
| 182 | |
| 183 | /* Sends a global packet with two arguments */
|
| 184 | void send2(char arg0, char arg1) |
| 185 | {
|
| 186 | char send_buffer[2]; |
| 187 | send_buffer[0]=arg0;
|
| 188 | send_buffer[1]=arg1;
|
| 189 | wl_basic_send_global_packet(42,send_buffer,2); |
| 190 | } |
| 191 | |
| 192 | /* Sends a global packet with three arguments */
|
| 193 | void send3(char arg0, char arg1, char arg2) |
| 194 | {
|
| 195 | char send_buffer[3]; |
| 196 | send_buffer[0]=arg0;
|
| 197 | send_buffer[1]=arg1;
|
| 198 | send_buffer[2]=arg2;
|
| 199 | wl_basic_send_global_packet(42,send_buffer,3); |
| 200 | } |
| 201 | |
| 202 | /*
|
| 203 | Orients the robot so that it is facing the beacon (or the broadcasting BOM). |
| 204 | |
| 205 | */ |
| 206 | void aboutFace(int goal) |
| 207 | {
|
| 208 | int goalinv = goal + 8; // the inverse of the goal direction, across the BOM. |
| 209 | if(goalinv >= 16) goalinv -= 16; |
| 210 | |
| 211 | orb1_set_color(BLUE); // BLUE and PURPLE
|
| 212 | left(220);
|
| 213 | while(1) |
| 214 | {
|
| 215 | int bomNum = 0; // bomNum is the current maximum reading |
| 216 | bom_refresh(BOM_ALL); |
| 217 | bomNum = bom_get_max(); |
| 218 | usb_puti(bomNum); |
| 219 | if(bomNum == goal) // when it's turned the right way, stop |
| 220 | {
|
| 221 | timeout = 0;
|
| 222 | //motor_l_set(1, 200);
|
| 223 | //motor_r_set(1, 200);
|
| 224 | break; // exits the while() loop to stop the method |
| 225 | } |
| 226 | else // facing the wrong way |
| 227 | {
|
| 228 | if(bomNum == -1) |
| 229 | {
|
| 230 | timeout++; |
| 231 | |
| 232 | if(timeout > 5000) // if it's been looking too long, move a little bit as it turns |
| 233 | {
|
| 234 | motor_r_set(FORWARD, 210);
|
| 235 | motor_l_set(BACKWARD, 190);
|
| 236 | } |
| 237 | } |
| 238 | else if((bomNum >= goalinv) || (bomNum < goal)) |
| 239 | {
|
| 240 | motor_l_set(FORWARD, 200);
|
| 241 | motor_r_set(BACKWARD, 200);
|
| 242 | timeout = 0;
|
| 243 | } |
| 244 | else
|
| 245 | {
|
| 246 | motor_l_set(BACKWARD, 200);
|
| 247 | motor_r_set(FORWARD, 200);
|
| 248 | timeout = 0;
|
| 249 | } |
| 250 | } |
| 251 | } |
| 252 | return;
|
| 253 | } |
| 254 | |
| 255 | |
| 256 | /*
|
| 257 | BLINK the given number times |
| 258 | */ |
| 259 | void blink(int num) |
| 260 | {
|
| 261 | for(int i = 0; i<num; i++) |
| 262 | {
|
| 263 | orb_set_color(ORB_OFF); |
| 264 | delay_ms(150);
|
| 265 | orb_set_color(RED); |
| 266 | delay_ms(50);
|
| 267 | } |
| 268 | orb_set_color(ORB_OFF); |
| 269 | } |
| 270 | |
| 271 | /*
|
| 272 | BLINK slowly the given number times |
| 273 | */ |
| 274 | void slowblink(int num) |
| 275 | {
|
| 276 | for(int i = 0; i<num; i++) |
| 277 | {
|
| 278 | orb_set_color(ORB_OFF); |
| 279 | delay_ms(300);
|
| 280 | orb_set_color(RED); |
| 281 | delay_ms(200);
|
| 282 | } |
| 283 | orb_set_color(ORB_OFF); |
| 284 | } |
| 285 | |
| 286 | void order(int action) |
| 287 | {
|
| 288 | currentPos++; |
| 289 | send2(CIRCLE_EXECUTE, action); |
| 290 | state = 20 + action;
|
| 291 | } |
| 292 | |
| 293 | void terminate(void) |
| 294 | {
|
| 295 | send2(CIRCLE_EXECUTE, 100);
|
| 296 | orb_set_color(GREEN); |
| 297 | orb2_set_color(WHITE); |
| 298 | while(1) ; |
| 299 | } |
| 300 | |
| 301 | |
| 302 | |
| 303 | |
| 304 | //*****************************************************************************************************************************************************************************************
|
| 305 | //*****************************************************************************************************************************************************************************************
|
| 306 | //*****************************************************************************************************************************************************************************************
|
| 307 | |
| 308 | |
| 309 | /*
|
| 310 | A state machine with five states. The robot starts out in WAITINGSTATE mode, from which |
| 311 | it recieves a signal of some sort and moves to a different state. |
| 312 | */ |
| 313 | int main(void) |
| 314 | {
|
| 315 | /* Initialize dragonfly board */
|
| 316 | dragonfly_init(ALL_ON); |
| 317 | /* Initialize the basic wireless library */
|
| 318 | wl_basic_init_default(); |
| 319 | /* Set the XBee channel to 24 - must be standard among robots */
|
| 320 | wl_set_channel(24);
|
| 321 | |
| 322 | int robotid = get_robotid();
|
| 323 | int centerid = 0; // once the EDGE gets the first signal from a center, it stores who the center is. |
| 324 | int used[17]; // stores a list of bots which are in the group by storing a "1" in the array if the robot of that index is in the group. |
| 325 | for (int i=0; i<17; i++) used[i] = 0; // initially, no robots in the group. |
| 326 | |
| 327 | int data_length; // keeps track of the length of wireless packets received. |
| 328 | unsigned char *packet_data=wl_basic_do_default(&data_length); |
| 329 | |
| 330 | int beacon_State=0; // these variables keep track of the inner state machines in the procedural MACHINE states. |
| 331 | int edge_State=0; |
| 332 | |
| 333 | int waitingCounter=0; |
| 334 | int robotsReceived=0; // an important variable that stores the size of the group. |
| 335 | int offset = 20; // offset for the approaching: how far off the rangefinders can be |
| 336 | int time=0; |
| 337 | int direction = 4; // keeps track of which way robots are facing relative to the center |
| 338 | int distance=1000; // how far away the robot is. Initialized to a large value to ensure that the robot doesn't think it is already the |
| 339 | // right distance away.
|
| 340 | int onefoot = 250; // how far away to stop. |
| 341 | |
| 342 | while(1) |
| 343 | {
|
| 344 | bom_refresh(BOM_ALL); |
| 345 | |
| 346 | /*
|
| 347 | *******EXPECTED MOVES ********** (OUT OF DATE. Will be updated once changes have been made.) |
| 348 | The designed movement: |
| 349 | 1. one center robot, several edge robots are on; |
| 350 | 2. center robots: button 1 is pressed; |
| 351 | 3. center robots: send global package telling edges that he exists; |
| 352 | 4. EDGE robots response with ACK. |
| 353 | 5. EDGE robots wait for center robots to finish counting (DONE package) |
| 354 | 6. EDGE robtos approach the center robtot and stop at the "onefoot" distance, send message to the center |
| 355 | */ |
| 356 | |
| 357 | |
| 358 | /* This is the MAIN SWITCH LOOP, which governs the overall status of the robot. */
|
| 359 | switch(state)
|
| 360 | {
|
| 361 | |
| 362 | |
| 363 | /*
|
| 364 | The WAITINGSTATE. This state constantly checks for wireless packets, |
| 365 | and updates its state as soon as it receives a signal. |
| 366 | */ |
| 367 | case 0: |
| 368 | |
| 369 | orb_set_color(YELLOW); |
| 370 | packet_data=wl_basic_do_default(&data_length); |
| 371 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_CLAIM_CENTER) |
| 372 | {
|
| 373 | centerid = packet_data[1];
|
| 374 | |
| 375 | state = 1;
|
| 376 | } |
| 377 | |
| 378 | if(button1_read())
|
| 379 | {
|
| 380 | send2(CIRCLE_CLAIM_CENTER, robotid); // becomes the center if button1 is clicked.
|
| 381 | state = 2;
|
| 382 | } |
| 383 | |
| 384 | break;
|
| 385 | |
| 386 | |
| 387 | |
| 388 | //***********************************************************************************************************************************************************************************
|
| 389 | |
| 390 | |
| 391 | |
| 392 | /*
|
| 393 | The CONTROL for the EDGE state. This sets a certain procedure to follow, in the form of simple |
| 394 | commands, for a robot to follow if it is set to an EDGE. |
| 395 | */ |
| 396 | |
| 397 | case 1: |
| 398 | orb_set_color(CYAN); |
| 399 | orb1_set_color(YELLOW); |
| 400 | |
| 401 | int command = -1; |
| 402 | |
| 403 | packet_data=wl_basic_do_default(&data_length); |
| 404 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_EXECUTE) |
| 405 | {
|
| 406 | command = packet_data[1];
|
| 407 | } |
| 408 | |
| 409 | if(command != -1) |
| 410 | {
|
| 411 | edge_State = 0;
|
| 412 | switch(command)
|
| 413 | {
|
| 414 | case 0: |
| 415 | state = 10; break; |
| 416 | |
| 417 | case 1: |
| 418 | state = 11; break; |
| 419 | |
| 420 | case 2: |
| 421 | state = 12; break; |
| 422 | |
| 423 | case 3: |
| 424 | state = 13; break; |
| 425 | |
| 426 | case 100: |
| 427 | terminate(); break;
|
| 428 | } |
| 429 | } |
| 430 | |
| 431 | break;
|
| 432 | |
| 433 | |
| 434 | |
| 435 | //***********************************************************************************************************************************************************************************
|
| 436 | |
| 437 | |
| 438 | |
| 439 | /*
|
| 440 | The CONTROL for the BEACON state. This sets a certain procedure to follow, in the form of simple |
| 441 | commands, for a robot to follow if it is set to a BEACON. |
| 442 | */ |
| 443 | case 2: |
| 444 | orb_set_color(PURPLE); |
| 445 | beacon_State = 0;
|
| 446 | |
| 447 | switch(currentPos)
|
| 448 | {
|
| 449 | case 0: |
| 450 | order(COUNT); break;
|
| 451 | |
| 452 | case 1: |
| 453 | order(CIRCLEUP); break;
|
| 454 | |
| 455 | case 2: |
| 456 | order(ORIENT); break;
|
| 457 | |
| 458 | case 3: |
| 459 | order(DRIVE); break;
|
| 460 | |
| 461 | case 4: |
| 462 | terminate(); break;
|
| 463 | } |
| 464 | |
| 465 | break;
|
| 466 | |
| 467 | |
| 468 | |
| 469 | //***********************************************************************************************************************************************************************************
|
| 470 | |
| 471 | |
| 472 | /* The following states are MACHINE states for the EDGE robot. */
|
| 473 | |
| 474 | /*
|
| 475 | EDGE on COUNT |
| 476 | */ |
| 477 | case 10: |
| 478 | |
| 479 | |
| 480 | switch(edge_State)
|
| 481 | {
|
| 482 | /*
|
| 483 | 0. EDGE robots are on. |
| 484 | 1. They are waiting for EXIST pacakage from the Center robots |
| 485 | 2. After they receive the package, they send ACK package to center. |
| 486 | 3. Done for now: display green. |
| 487 | */ |
| 488 | case 0: |
| 489 | bom_off(); |
| 490 | orb1_set_color(YELLOW); |
| 491 | orb2_set_color(BLUE); |
| 492 | packet_data=wl_basic_do_default(&data_length); |
| 493 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_EXIST) |
| 494 | {
|
| 495 | centerid = packet_data[1];
|
| 496 | |
| 497 | send2(CIRCLE_ACTION_ACK,robotid); |
| 498 | |
| 499 | edge_State=1;
|
| 500 | } |
| 501 | break;
|
| 502 | /*
|
| 503 | 1. Wait for DONE package |
| 504 | 2. The counting process is DONE |
| 505 | */ |
| 506 | case 1: |
| 507 | |
| 508 | orb_set_color(YELLOW); |
| 509 | orb2_set_color(PURPLE); |
| 510 | |
| 511 | send2(CIRCLE_ACTION_ACK,robotid); // keep sending the packet until we get a response
|
| 512 | |
| 513 | packet_data=wl_basic_do_default(&data_length); |
| 514 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_GOTYOU && packet_data[1] == robotid) |
| 515 | {
|
| 516 | edge_State=2;
|
| 517 | } |
| 518 | break;
|
| 519 | |
| 520 | case 2: // wait for the second, general, done packet. |
| 521 | |
| 522 | orb_set_color(YELLOW); |
| 523 | packet_data=wl_basic_do_default(&data_length); |
| 524 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE && packet_data[1] == centerid) |
| 525 | {
|
| 526 | state = 1;
|
| 527 | } |
| 528 | break;
|
| 529 | } |
| 530 | |
| 531 | break;
|
| 532 | |
| 533 | /* The CIRCLEUP command for EDGE */
|
| 534 | |
| 535 | case 11: |
| 536 | |
| 537 | switch(edge_State)
|
| 538 | {
|
| 539 | |
| 540 | case 0: |
| 541 | // COLOR afer DONE ---> MAGENTA
|
| 542 | orb_set_color(MAGENTA); |
| 543 | aboutFace(4); // turn to face the beacon |
| 544 | forward(175);
|
| 545 | //range_init();
|
| 546 | |
| 547 | |
| 548 | distance = get_distance(); |
| 549 | time=0;
|
| 550 | while ((distance-offset)>=onefoot || distance==0 || (distance+offset)<onefoot) |
| 551 | {
|
| 552 | if(distance==0) |
| 553 | orb_set_color(WHITE); |
| 554 | else if(distance-offset>=onefoot) |
| 555 | forward(175);
|
| 556 | else
|
| 557 | backward(175);
|
| 558 | //correctApproach();
|
| 559 | distance = get_distance(); |
| 560 | delay_ms(14);
|
| 561 | time+=14;
|
| 562 | if(time>50) |
| 563 | {
|
| 564 | aboutFace(4);
|
| 565 | time=0;
|
| 566 | } |
| 567 | } |
| 568 | |
| 569 | stop(); |
| 570 | orb_set_color(GREEN); |
| 571 | |
| 572 | send2(CIRCLE_ACTION_ACK, robotid); |
| 573 | |
| 574 | stop(); |
| 575 | state = 1;
|
| 576 | break;
|
| 577 | |
| 578 | } |
| 579 | |
| 580 | |
| 581 | break;
|
| 582 | |
| 583 | /* An ORIENT series of steps for the EDGE robot. */
|
| 584 | |
| 585 | case 12: |
| 586 | |
| 587 | |
| 588 | switch(edge_State)
|
| 589 | {
|
| 590 | |
| 591 | // waits for a packet to tell it to turn on the bom.
|
| 592 | case 0: |
| 593 | packet_data=wl_basic_do_default(&data_length); |
| 594 | if(packet_data != 0 && data_length==2 && packet_data[0]==CIRCLE_ACTION_GOTYOU && packet_data[1] == robotid) |
| 595 | {
|
| 596 | bom_on(); |
| 597 | orb_set_color(ORANGE); |
| 598 | send2(CIRCLE_ACTION_ACK,centerid); |
| 599 | edge_State = 1;
|
| 600 | } |
| 601 | break;
|
| 602 | |
| 603 | // waits for a packet to tell it that it has been received.
|
| 604 | case 1: |
| 605 | orb2_set_color(YELLOW); |
| 606 | packet_data=wl_basic_do_default(&data_length); |
| 607 | if(packet_data != 0 && data_length==3 && packet_data[0]==CIRCLE_ACTION_GOTYOU && packet_data[1] == robotid) |
| 608 | {
|
| 609 | bom_off(); |
| 610 | direction = packet_data[2];
|
| 611 | blink(direction); |
| 612 | orb_set_color(YELLOW); |
| 613 | edge_State = 2;
|
| 614 | } |
| 615 | break;
|
| 616 | |
| 617 | /* Wait for the center bot to send a DONE packet; then turn to face the right direction. */
|
| 618 | case 2: |
| 619 | orb_set_color(GREEN); |
| 620 | packet_data=wl_basic_do_default(&data_length); |
| 621 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE) |
| 622 | {
|
| 623 | orb_set_color(WHITE); |
| 624 | orb2_set_color(CYAN); |
| 625 | edge_State = 3;
|
| 626 | } |
| 627 | break;
|
| 628 | |
| 629 | /* Turn until we reach the right direction (DIRECTION) */
|
| 630 | case 3: |
| 631 | aboutFace(direction); |
| 632 | |
| 633 | /*left(170);
|
| 634 | bom_refresh(BOM_ALL); |
| 635 | if(bom_get_max() == direction) |
| 636 | {
|
| 637 | stop(); |
| 638 | orb_set_color(YELLOW); |
| 639 | state = 1; |
| 640 | }*/ |
| 641 | break;
|
| 642 | |
| 643 | } |
| 644 | |
| 645 | |
| 646 | break;
|
| 647 | |
| 648 | |
| 649 | /* The MOVE steps for the EDGE robot */
|
| 650 | |
| 651 | case 13: |
| 652 | |
| 653 | switch(edge_State)
|
| 654 | {
|
| 655 | |
| 656 | /* Wait for the command to move forward. */
|
| 657 | case 0: |
| 658 | packet_data=wl_basic_do_default(&data_length); |
| 659 | if(packet_data != 0 && data_length>=3 && packet_data[0]==CIRCLE_ACTION_FORWARD) |
| 660 | {
|
| 661 | orb_set_color(BLUE); |
| 662 | forward(packet_data[1]*10); |
| 663 | delay_ms(packet_data[2]*1000); |
| 664 | edge_State = 1;
|
| 665 | } |
| 666 | break;
|
| 667 | |
| 668 | /* Terminal. */
|
| 669 | case 1: |
| 670 | stop(); |
| 671 | state = 1;
|
| 672 | break;
|
| 673 | |
| 674 | |
| 675 | } // end the EdgeState switch
|
| 676 | |
| 677 | break; // break the Edge state in the main switch loop |
| 678 | |
| 679 | // END for EDGE robots
|
| 680 | |
| 681 | |
| 682 | |
| 683 | |
| 684 | |
| 685 | |
| 686 | //***********************************************************************************************************************************************************************************
|
| 687 | |
| 688 | |
| 689 | |
| 690 | |
| 691 | /*
|
| 692 | The MACHINE for the BEACON state |
| 693 | */ |
| 694 | |
| 695 | /* the COUNT code for the BEACON */
|
| 696 | case 20: |
| 697 | switch(beacon_State)
|
| 698 | {
|
| 699 | |
| 700 | /* 0. center robots on wait for pressing button 1 */
|
| 701 | case 0: |
| 702 | bom_on(); |
| 703 | orb_set_color(BLUE); |
| 704 | robotsReceived = 0;
|
| 705 | beacon_State=1;
|
| 706 | break;
|
| 707 | |
| 708 | /* 1. Send EXIST package to EDGE robots */
|
| 709 | case 1: |
| 710 | orb_set_color(RED); |
| 711 | send2(CIRCLE_ACTION_EXIST,robotid); |
| 712 | beacon_State=2;
|
| 713 | break;
|
| 714 | |
| 715 | /* 2. Count the number of the EDGE robots *******NOTE: at most 1000 times of loop ****** */
|
| 716 | case 2: |
| 717 | waitingCounter++; |
| 718 | orb1_set_color(YELLOW); |
| 719 | orb2_set_color(BLUE); |
| 720 | packet_data=wl_basic_do_default(&data_length); |
| 721 | |
| 722 | if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 723 | {
|
| 724 | orb_set_color(RED); |
| 725 | orb2_set_color(BLUE); |
| 726 | //only add to robots seen if you haven't gotten an ACK from this robot
|
| 727 | if(used[packet_data[1]]==0) |
| 728 | {
|
| 729 | robotsReceived++; |
| 730 | used[packet_data[1]] = 1; |
| 731 | |
| 732 | usb_puts("Added: ");
|
| 733 | usb_puti(packet_data[1]);
|
| 734 | usb_puts("\r\n");
|
| 735 | } |
| 736 | |
| 737 | // NEW: sends a packet to each robot it receives telling them to be done.
|
| 738 | send2(CIRCLE_ACTION_GOTYOU,packet_data[1]);
|
| 739 | } |
| 740 | if(waitingCounter >= 300){ |
| 741 | beacon_State=3;
|
| 742 | } |
| 743 | break;
|
| 744 | |
| 745 | /* COUNTing is DONE. Sending DONE package. */
|
| 746 | case 3: |
| 747 | blink(robotsReceived); |
| 748 | orb_set_color(GREEN); |
| 749 | send2(CIRCLE_ACTION_DONE, robotid); |
| 750 | state = 2;
|
| 751 | break;
|
| 752 | } |
| 753 | |
| 754 | break;
|
| 755 | |
| 756 | /* The CIRCLEUP method for BEACON */
|
| 757 | case 21: |
| 758 | |
| 759 | switch(beacon_State)
|
| 760 | {
|
| 761 | |
| 762 | /* Wait for all the robots to get to right distance/position */
|
| 763 | case 0: |
| 764 | left(170);
|
| 765 | orb1_set_color(YELLOW); |
| 766 | orb2_set_color(WHITE); |
| 767 | |
| 768 | int numOk = 0; |
| 769 | |
| 770 | while(numOk<robotsReceived)
|
| 771 | {
|
| 772 | packet_data=wl_basic_do_default(&data_length); |
| 773 | if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 774 | {
|
| 775 | numOk++; |
| 776 | } |
| 777 | } |
| 778 | |
| 779 | state = 2;
|
| 780 | break;
|
| 781 | } |
| 782 | |
| 783 | break;
|
| 784 | |
| 785 | |
| 786 | /* The ORIENT code for the beacon */
|
| 787 | case 22: |
| 788 | |
| 789 | switch(beacon_State)
|
| 790 | {
|
| 791 | /* Turns all the robots in the same direction */
|
| 792 | case 0: |
| 793 | stop(); |
| 794 | bom_off(); |
| 795 | orb_set_color(ORANGE); |
| 796 | |
| 797 | // for each robot, tells them to turn their bom on, then tells them which way they should face.
|
| 798 | for(int i=0; i < 17; i++) |
| 799 | {
|
| 800 | if(used[i] == 1) |
| 801 | {
|
| 802 | send2(CIRCLE_ACTION_GOTYOU, i); |
| 803 | while(1) // waits for a response so it knows the BOM is on. |
| 804 | {
|
| 805 | orb_set_color(RED); |
| 806 | orb2_set_color(WHITE); |
| 807 | packet_data=wl_basic_do_default(&data_length); |
| 808 | if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 809 | {
|
| 810 | orb_set_color(ORANGE); |
| 811 | break;
|
| 812 | } |
| 813 | } |
| 814 | |
| 815 | bom_refresh(BOM_ALL); |
| 816 | direction = bom_get_max(); |
| 817 | direction += 8;
|
| 818 | if(direction > 15) direction -= 16; |
| 819 | blink(direction); |
| 820 | send3(CIRCLE_ACTION_GOTYOU, i, direction); |
| 821 | delay_ms(20);
|
| 822 | } |
| 823 | } |
| 824 | beacon_State = 1;
|
| 825 | break;
|
| 826 | |
| 827 | /* Sends a DONE packet to signify that it has read in all the robots' directions and sent packets.
|
| 828 | Edge robots should now turn to face the right direction. */ |
| 829 | case 1: |
| 830 | send2(CIRCLE_ACTION_DONE,robotid); |
| 831 | bom_on(); |
| 832 | state = 2;
|
| 833 | break;
|
| 834 | } |
| 835 | |
| 836 | break;
|
| 837 | |
| 838 | |
| 839 | /* The DRIVE code for the beacon */
|
| 840 | case 23: |
| 841 | |
| 842 | switch(beacon_State)
|
| 843 | {
|
| 844 | |
| 845 | /* Tells the robots to move forward and moves itself. */
|
| 846 | case 0: |
| 847 | orb_set_color(YELLOW); |
| 848 | delay_ms(5000);
|
| 849 | |
| 850 | // format: type of ack, speed divided by 10, time in seconds.
|
| 851 | send3(CIRCLE_ACTION_FORWARD,20,2); |
| 852 | orb_set_color(BLUE); |
| 853 | forward(200);
|
| 854 | delay_ms(2000);
|
| 855 | stop(); |
| 856 | beacon_State = 1;
|
| 857 | break;
|
| 858 | |
| 859 | /* Terminal. */
|
| 860 | case 1: |
| 861 | stop(); |
| 862 | state = 2;
|
| 863 | break;
|
| 864 | } |
| 865 | break;
|
| 866 | |
| 867 | //***********************************************************************************************************************************************************************************
|
| 868 | |
| 869 | } // ends the main switch
|
| 870 | } // ends the main while loop
|
| 871 | |
| 872 | orb_set_color(RED); // error, we should never break from the while loop!
|
| 873 | |
| 874 | while(1); /* END HERE, just in case something happened. This way we can see the red orb. */ |
| 875 | } |
| 876 | |
| 877 |