Colony

//Obstacle Avoid Numbers

#ifndef _RUN_AROUND_FSM_H_

#define _RUN_AROUND_FSM_H_

//The States:

#define MOVING 12           //Move strait.

#define BACKWARDS 15        //Move backwards. (Front close to wall.)

#define STOP 16             //Stop.  The default state, (Something broke).

#define CRAZY 40            //Erratic behavior that occurs more often when the robot is frequently trying to turn. (i.e. may be stuck.)

#define LEFT 37             //Left

#define RIGHT 39            //Right

#define BACKUP_MAX 60

#define CRAZY_MAX 200       //The number of counts between "crazy moments"

#define STRAIT_SPEED 185    //The speed when going strait or backing up.

#define TURN_CONSTANT 2

#define PCONTROL_CRAZY_LIMIT 80

int avoid_state;

int prev_state;    /*State machine variable.*/

int crazy_count;    /*Counter for a 'get unstuck' behavior.*/

int backup_count;        /*Counter for backup duration.*/

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

int d1,d2,d3,d4,d5;        /*The five distances taken in by IR.*/

void run_around_init(void);

void run_around_FSM(void);

void evaluate_state(void);

#endif