Colony

#include "hunter_prey.h"

#include <dragonfly_lib.h>

#define TAG_TIME 3

#define TAG_RANGE 250

/**** This file should not be edited! ****/

/*

 * The criteria for tagging are the following:

 *   * The max bom is betweed 1 and 7

 *   * The front rangefinder reads less than TAG_RANGE

 *   * -1 values from the rangefinder are ignored

 *   * These conditions are met across TAG_TIME calls to this function

 */

unsigned char hunter_prey_tagged(int max_bom, int frontRange) {

  static int onTarget = 0;

  /* if either value is -1, just return */

  if(max_bom == -1 || frontRange == -1) {

    return 0;

  }

  if(max_bom <= 7 && max_bom >= 1 && frontRange > 0 && frontRange < TAG_RANGE) {

    if(onTarget == 0) {

      onTarget = TAG_TIME;

      usb_puts("On target!\n");

    }

    else {

      if(--onTarget <= 0) {

        onTarget = 0;

        usb_puts("TAG!\n");

        return 1;

      }

    }

  }

  else{

    //don't reset onTarget because the robot got too close

    if(frontRange > 0)

      onTarget = 0;

  }

  return 0;

}