root / trunk / code / behaviors / formation_control / circle_spacing / circle_spacing.c @ 1809
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| 1 | #include <dragonfly_lib.h> |
|---|---|
| 2 | #include <wl_basic.h> |
| 3 | #include<encoders.h> |
| 4 | #include "circle_spacing.h" |
| 5 | |
| 6 | enum role_e {MASTER,SLAVE};
|
| 7 | enum state_e {INIT, ID, MAPPING, PLANNING, WAIT, SENDING, RECIEVING, FINISH};
|
| 8 | |
| 9 | enum role_e role = SLAVE;
|
| 10 | enum state_e current_state = INIT;
|
| 11 | enum state_e next_state = INIT;
|
| 12 | |
| 13 | int used[17] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; // if a robot is here, the value of the indice equal to its id is 1, esle 0 |
| 14 | int map[17] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; // Angular position of the robot which id equals the indice (20 for not here) |
| 15 | int neighbour[17] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; // clockwise neighbour |
| 16 | int gap[17] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; // gap to the left of the robot |
| 17 | int stop = 0; |
| 18 | struct vector slave_position;
|
| 19 | int desired_max_bom;
|
| 20 | int bom_max_counter;
|
| 21 | int robotid;
|
| 22 | int centerid = 0; |
| 23 | int robotsRecieved=0; |
| 24 | int target_slave = 0; |
| 25 | |
| 26 | |
| 27 | void set_desired_max_bom(int desired_angle) |
| 28 | {
|
| 29 | if (desired_angle >= 348 || desired_angle < 11) desired_max_bom = 0; |
| 30 | if (desired_angle >= 11 && desired_angle < 33) desired_max_bom = 1; |
| 31 | if (desired_angle >= 33 && desired_angle < 56) desired_max_bom = 2; |
| 32 | if (desired_angle >= 56 && desired_angle < 78) desired_max_bom = 3; |
| 33 | if (desired_angle >= 78 && desired_angle < 101) desired_max_bom = 4; |
| 34 | if (desired_angle >= 101 && desired_angle < 123) desired_max_bom = 5; |
| 35 | if (desired_angle >= 123 && desired_angle < 145) desired_max_bom = 6; |
| 36 | if (desired_angle >= 145 && desired_angle < 167) desired_max_bom = 7; |
| 37 | if (desired_angle >= 167 && desired_angle < 190) desired_max_bom = 8; |
| 38 | if (desired_angle >= 190 && desired_angle < 212) desired_max_bom = 9; |
| 39 | if (desired_angle >= 212 && desired_angle < 235) desired_max_bom = 10; |
| 40 | if (desired_angle >= 235 && desired_angle < 257) desired_max_bom = 11; |
| 41 | if (desired_angle >= 257 && desired_angle < 280) desired_max_bom = 12; |
| 42 | if (desired_angle >= 280 && desired_angle < 302) desired_max_bom = 13; |
| 43 | if (desired_angle >= 302 && desired_angle < 325) desired_max_bom = 14; |
| 44 | if (desired_angle >= 325 && desired_angle < 348) desired_max_bom = 15; |
| 45 | } |
| 46 | |
| 47 | // collects the angular position of the slave robots by making them switch their bom one by one.
|
| 48 | |
| 49 | void map_slaves()
|
| 50 | {
|
| 51 | int bom_max;
|
| 52 | |
| 53 | for(int i=0; i<17; i++) |
| 54 | {
|
| 55 | if(used[i])
|
| 56 | {
|
| 57 | send2(CIRCLE_ACTION_MAP,i); |
| 58 | delay_ms(1000);
|
| 59 | |
| 60 | do
|
| 61 | {
|
| 62 | bom_refresh(BOM_ALL); |
| 63 | bom_max = bom_get_max(); |
| 64 | } |
| 65 | while(bom_max == -1); |
| 66 | |
| 67 | map[i] = bom_max; |
| 68 | send2(CIRCLE_ACTION_DONE,i); |
| 69 | } |
| 70 | } |
| 71 | |
| 72 | usb_puts("Map: \r\n");
|
| 73 | for(int i=0; i<17; i++) |
| 74 | {
|
| 75 | usb_puti(map[i]); |
| 76 | usb_puts("\r\n");
|
| 77 | } |
| 78 | } |
| 79 | |
| 80 | void plan()
|
| 81 | {
|
| 82 | static int k = 0; |
| 83 | |
| 84 | target_slave++; |
| 85 | |
| 86 | if(target_slave>16) |
| 87 | {
|
| 88 | next_state = FINISH; |
| 89 | orb1_set_color(YELLOW); |
| 90 | } |
| 91 | else if(used[target_slave]) |
| 92 | {
|
| 93 | k++; |
| 94 | usb_puts("K: ");
|
| 95 | usb_puti(k); |
| 96 | usb_puts("\r\n");
|
| 97 | set_desired_max_bom(360/robotsRecieved*k);
|
| 98 | send2(CIRCLE_ACTION_MOVE,target_slave); |
| 99 | delay_ms(500);
|
| 100 | next_state = SENDING; |
| 101 | } |
| 102 | |
| 103 | |
| 104 | } |
| 105 | |
| 106 | void plan2()
|
| 107 | {
|
| 108 | int order[robotsRecieved];
|
| 109 | int check[17] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
| 110 | |
| 111 | |
| 112 | |
| 113 | for(int i=0; i<robotsRecieved; i++) |
| 114 | {
|
| 115 | int current;
|
| 116 | int min = 20; |
| 117 | for(int j=0; j<17; j++) |
| 118 | {
|
| 119 | if(map[j]<min && !check[j])
|
| 120 | {
|
| 121 | current = j; |
| 122 | min = map[j]; |
| 123 | usb_puts("Test \r\n");
|
| 124 | } |
| 125 | |
| 126 | } |
| 127 | |
| 128 | order[i]=current; |
| 129 | check[current]=1;
|
| 130 | |
| 131 | usb_puti(i); |
| 132 | usb_puts(" Current: ");
|
| 133 | usb_puti(current); |
| 134 | usb_puts("\r\n");
|
| 135 | } |
| 136 | usb_puts("Order: \r\n");
|
| 137 | for(int i=0; i<robotsRecieved; i++) |
| 138 | { usb_puti(i);
|
| 139 | usb_puts(" ");
|
| 140 | usb_puti(order[i]); |
| 141 | usb_puts("\r\n");
|
| 142 | } |
| 143 | |
| 144 | for(int i=0; i<robotsRecieved; i++) |
| 145 | {
|
| 146 | if(i==robotsRecieved-1) gap[order[i]]= map[order[0]] - map[order[i]] +16; // closes the loop |
| 147 | else gap[order[i]]= map[order[i+1]] - map[order[i]]; |
| 148 | } |
| 149 | |
| 150 | usb_puts("Gap: \r\n");
|
| 151 | for(int i=0; i<17; i++) |
| 152 | {
|
| 153 | usb_puti(gap[i]); |
| 154 | usb_puts("\r\n");
|
| 155 | } |
| 156 | |
| 157 | for(int i=0; i<robotsRecieved; i++) |
| 158 | {
|
| 159 | if(i==0) neighbour[order[i]]=order[robotsRecieved-1]; |
| 160 | else neighbour[order[i]]=order[i-1]; |
| 161 | |
| 162 | } |
| 163 | |
| 164 | usb_puts("Neighbour: \r\n");
|
| 165 | for(int i=0; i<17; i++) |
| 166 | {
|
| 167 | usb_puti(neighbour[i]); |
| 168 | usb_puts("\r\n");
|
| 169 | } |
| 170 | } |
| 171 | |
| 172 | void plan3()
|
| 173 | {
|
| 174 | static int move_counter =0; |
| 175 | int max = 0; |
| 176 | int move_gap = 0; |
| 177 | |
| 178 | for(int j=0; j<17; j++) |
| 179 | {
|
| 180 | if(gap[j]>max && gap[j]!=20) |
| 181 | {
|
| 182 | target_slave = j; |
| 183 | max = gap[j]; |
| 184 | } |
| 185 | |
| 186 | } |
| 187 | |
| 188 | move_counter++; |
| 189 | if(move_counter==robotsRecieved) next_state = FINISH;
|
| 190 | else
|
| 191 | {
|
| 192 | move_gap = gap[target_slave]-16/robotsRecieved;
|
| 193 | desired_max_bom = map[target_slave]+move_gap; |
| 194 | if(desired_max_bom>15) desired_max_bom-=16; |
| 195 | gap[target_slave]-=move_gap; |
| 196 | gap[neighbour[target_slave]] += move_gap; |
| 197 | usb_puts("Target:");
|
| 198 | usb_puti(target_slave); |
| 199 | usb_puts(" Destination:");
|
| 200 | usb_puti(desired_max_bom); |
| 201 | usb_puts("\n\r");
|
| 202 | send2(CIRCLE_ACTION_MOVE,target_slave); |
| 203 | delay_ms(500);
|
| 204 | next_state = SENDING; |
| 205 | } |
| 206 | } |
| 207 | |
| 208 | |
| 209 | void switch_state ()
|
| 210 | {
|
| 211 | switch(role)
|
| 212 | {
|
| 213 | case MASTER: |
| 214 | switch(current_state)
|
| 215 | {
|
| 216 | case PLANNING: |
| 217 | orb1_set_color(RED); |
| 218 | break;
|
| 219 | case SENDING: |
| 220 | bom_off(); |
| 221 | break;
|
| 222 | } |
| 223 | |
| 224 | |
| 225 | |
| 226 | switch(next_state)
|
| 227 | {
|
| 228 | case ID: |
| 229 | send2(CIRCLE_ACTION_EXIST,robotid); |
| 230 | break;
|
| 231 | |
| 232 | case MAPPING: |
| 233 | map_slaves(); |
| 234 | plan2(); |
| 235 | break;
|
| 236 | |
| 237 | case PLANNING: |
| 238 | |
| 239 | orb1_set_color(PINK); |
| 240 | |
| 241 | break;
|
| 242 | |
| 243 | case SENDING: |
| 244 | bom_on(); |
| 245 | break;
|
| 246 | |
| 247 | case RECIEVING: |
| 248 | break;
|
| 249 | } |
| 250 | break;
|
| 251 | |
| 252 | case SLAVE: |
| 253 | switch(current_state)
|
| 254 | {
|
| 255 | case SENDING: |
| 256 | bom_off(); |
| 257 | break;
|
| 258 | |
| 259 | } |
| 260 | |
| 261 | |
| 262 | |
| 263 | switch(next_state)
|
| 264 | {
|
| 265 | case ID: |
| 266 | |
| 267 | break;
|
| 268 | |
| 269 | case MAPPING: |
| 270 | orb1_set_color(PINK); |
| 271 | break;
|
| 272 | |
| 273 | case SENDING: |
| 274 | bom_on(); |
| 275 | break;
|
| 276 | |
| 277 | case RECIEVING: |
| 278 | bom_off(); |
| 279 | break;
|
| 280 | case FINISH: |
| 281 | motor_l_set(FORWARD,0);
|
| 282 | motor_r_set(FORWARD,0);
|
| 283 | orb1_set_color(YELLOW); |
| 284 | break;
|
| 285 | } |
| 286 | break;
|
| 287 | } |
| 288 | |
| 289 | |
| 290 | current_state = next_state; |
| 291 | } |
| 292 | |
| 293 | |
| 294 | void send2(char arg0, char arg1) |
| 295 | {
|
| 296 | char send_buffer[2]; |
| 297 | send_buffer[0]=arg0;
|
| 298 | send_buffer[1]=arg1;
|
| 299 | wl_basic_send_global_packet(42,send_buffer,2); |
| 300 | } |
| 301 | |
| 302 | |
| 303 | int main(void) |
| 304 | {
|
| 305 | |
| 306 | |
| 307 | int sending_counter = 0; |
| 308 | int waitingCounter=0; |
| 309 | int max_bom;
|
| 310 | |
| 311 | /* Initialize dragonfly board */
|
| 312 | |
| 313 | dragonfly_init(ALL_ON); |
| 314 | xbee_init(); |
| 315 | wl_basic_init_default(); |
| 316 | wl_set_channel(12);
|
| 317 | int data_length;
|
| 318 | unsigned char *packet_data; |
| 319 | char send_buffer[2]; |
| 320 | |
| 321 | |
| 322 | robotid = get_robotid(); |
| 323 | |
| 324 | if(wheel()>100) |
| 325 | {
|
| 326 | role = MASTER; |
| 327 | } |
| 328 | |
| 329 | |
| 330 | if(role == MASTER) {orb2_set_color(RED); set_desired_max_bom(30);} |
| 331 | else orb2_set_color(BLUE);
|
| 332 | |
| 333 | |
| 334 | while(1) |
| 335 | {
|
| 336 | |
| 337 | |
| 338 | bom_refresh(BOM_ALL); |
| 339 | |
| 340 | |
| 341 | if(current_state != next_state) switch_state();
|
| 342 | |
| 343 | |
| 344 | switch(role)
|
| 345 | |
| 346 | {
|
| 347 | case MASTER: |
| 348 | |
| 349 | |
| 350 | switch(current_state)
|
| 351 | {
|
| 352 | case INIT: |
| 353 | next_state = ID; |
| 354 | break;
|
| 355 | case ID: |
| 356 | |
| 357 | waitingCounter++; |
| 358 | |
| 359 | |
| 360 | if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 361 | {
|
| 362 | |
| 363 | //only add to robots seen if you haven't gotten an ACK from this robot
|
| 364 | if(used[packet_data[1]]==0) |
| 365 | {
|
| 366 | robotsRecieved++; |
| 367 | used[packet_data[1]] = 1; |
| 368 | |
| 369 | usb_puts("Added: ");
|
| 370 | usb_puti(packet_data[1]);
|
| 371 | usb_puts("\r\n");
|
| 372 | } |
| 373 | |
| 374 | // NEW: sends a packet to each robot it receives telling them to be done.
|
| 375 | send2(CIRCLE_ACTION_GOTYOU,packet_data[1]);
|
| 376 | } |
| 377 | if(waitingCounter >= 300){ |
| 378 | next_state = MAPPING; |
| 379 | } |
| 380 | break;
|
| 381 | |
| 382 | case MAPPING: |
| 383 | |
| 384 | next_state = PLANNING; |
| 385 | break;
|
| 386 | |
| 387 | case PLANNING: |
| 388 | plan3(); |
| 389 | break;
|
| 390 | |
| 391 | case SENDING: |
| 392 | |
| 393 | if(sending_counter++>4) // clock for switching the BOMs between the master and slave |
| 394 | {
|
| 395 | next_state = RECIEVING; |
| 396 | sending_counter = 0;
|
| 397 | send2(CIRCLE_ACTION_CHANGE,target_slave); |
| 398 | } |
| 399 | break;
|
| 400 | |
| 401 | case RECIEVING: |
| 402 | |
| 403 | if(sending_counter++>4) // clock for switching the BOMs between the master and slave |
| 404 | {
|
| 405 | next_state = SENDING; |
| 406 | sending_counter = 0;
|
| 407 | send2(CIRCLE_ACTION_CHANGE,target_slave); |
| 408 | } |
| 409 | |
| 410 | max_bom = bom_get_max(); |
| 411 | //usb_puts("bom_get_max : ");
|
| 412 | //usb_puti(max_bom);
|
| 413 | //usb_puts("\n\r");
|
| 414 | |
| 415 | if(max_bom == desired_max_bom)
|
| 416 | {
|
| 417 | bom_max_counter ++; |
| 418 | if(bom_max_counter>2) // only stops the slave if two consecutive boms reading give the desired bom as the max one. Filters the noise. |
| 419 | {
|
| 420 | send2(CIRCLE_ACTION_STOP,target_slave); |
| 421 | next_state = PLANNING; |
| 422 | bom_max_counter = 0;
|
| 423 | } |
| 424 | |
| 425 | } |
| 426 | else bom_max_counter = 0; |
| 427 | break;
|
| 428 | |
| 429 | } |
| 430 | |
| 431 | break;
|
| 432 | |
| 433 | |
| 434 | |
| 435 | case SLAVE: |
| 436 | |
| 437 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_STOP && packet_data[1] == robotid) next_state = FINISH; |
| 438 | |
| 439 | |
| 440 | |
| 441 | switch(current_state)
|
| 442 | {
|
| 443 | case INIT: |
| 444 | next_state = ID; |
| 445 | break;
|
| 446 | |
| 447 | case ID: |
| 448 | |
| 449 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_EXIST) |
| 450 | {
|
| 451 | centerid = packet_data[1];
|
| 452 | |
| 453 | send2(CIRCLE_ACTION_ACK,robotid); |
| 454 | |
| 455 | next_state = MAPPING; |
| 456 | |
| 457 | } |
| 458 | break;
|
| 459 | |
| 460 | case MAPPING: |
| 461 | |
| 462 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_MAP && packet_data[1] == robotid) |
| 463 | {
|
| 464 | bom_on(); |
| 465 | } |
| 466 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE && packet_data[1] == robotid) |
| 467 | {
|
| 468 | bom_off(); |
| 469 | next_state = PLANNING; |
| 470 | } |
| 471 | |
| 472 | case PLANNING: |
| 473 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_MOVE && packet_data[1] == robotid) |
| 474 | {
|
| 475 | next_state = RECIEVING; |
| 476 | } |
| 477 | break;
|
| 478 | |
| 479 | case SENDING: |
| 480 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_CHANGE && packet_data[1] == robotid) |
| 481 | next_state = RECIEVING; |
| 482 | break;
|
| 483 | |
| 484 | case RECIEVING: |
| 485 | |
| 486 | if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_CHANGE && packet_data[1] == robotid) |
| 487 | next_state = SENDING; |
| 488 | |
| 489 | if(stop)
|
| 490 | {
|
| 491 | motor_l_set(FORWARD,0);
|
| 492 | motor_r_set(FORWARD,0);
|
| 493 | orb1_set_color(GREEN); |
| 494 | } |
| 495 | |
| 496 | else
|
| 497 | {
|
| 498 | max_bom = bom_get_max(); |
| 499 | /*usb_puts("bom_get_max : ");
|
| 500 | usb_puti(max_bom); |
| 501 | usb_puts("/n/r");*/
|
| 502 | |
| 503 | |
| 504 | if(max_bom == 8) |
| 505 | {
|
| 506 | orb2_set_color(BLUE); |
| 507 | motor_r_set(FORWARD,180);
|
| 508 | motor_l_set(FORWARD,180);
|
| 509 | |
| 510 | } |
| 511 | else if(max_bom == 7 || max_bom == 6 || max_bom == 5) |
| 512 | {
|
| 513 | motor_l_set(FORWARD,180);
|
| 514 | motor_r_set(FORWARD,0);
|
| 515 | } |
| 516 | else if(max_bom == -1); |
| 517 | else
|
| 518 | {
|
| 519 | orb2_set_color(GREEN); |
| 520 | motor_l_set(FORWARD,0);
|
| 521 | motor_r_set(FORWARD,180);
|
| 522 | } |
| 523 | } |
| 524 | break;
|
| 525 | |
| 526 | } |
| 527 | |
| 528 | break;
|
| 529 | } |
| 530 | |
| 531 | packet_data = wl_basic_do_default(&data_length); |
| 532 | delay_ms(10);
|
| 533 | } |
| 534 | |
| 535 | |
| 536 | return 0; |
| 537 | |
| 538 | |
| 539 | |
| 540 | |
| 541 | } |
| 542 | |
| 543 | |
| 544 | |
| 545 | |
| 546 | |
| 547 | |
| 548 | |
| 549 | |
| 550 | |
| 551 | |
| 552 | |
| 553 | |
| 554 | |
| 555 | |
| 556 | |
| 557 | |
| 558 | |
| 559 | |
| 560 | |
| 561 | |
| 562 | |
| 563 | |
| 564 | |
| 565 | |
| 566 | |
| 567 | |
| 568 | |
| 569 | |
| 570 | |
| 571 | |
| 572 | |
| 573 | |
| 574 | |
| 575 | |
| 576 | /*
|
| 577 | |
| 578 | |
| 579 | // Code working for a single slave orbiting around the master, with only one direction (tested on 07.04.2010) |
| 580 | |
| 581 | |
| 582 | #include <dragonfly_lib.h> |
| 583 | #include <wl_basic.h> |
| 584 | #include<encoders.h> |
| 585 | |
| 586 | |
| 587 | int master = 0; |
| 588 | int sending = 0; |
| 589 | int stop = 0; |
| 590 | struct vector slave_position; |
| 591 | int desired_max_bom; |
| 592 | int bom_max_counter; |
| 593 | |
| 594 | |
| 595 | void set_desired_max_bom(int desired_angle) |
| 596 | {
|
| 597 | if (desired_angle >= 348 || desired_angle < 11) desired_max_bom = 0; |
| 598 | if (desired_angle >= 11 && desired_angle < 33) desired_max_bom = 1; |
| 599 | if (desired_angle >= 33 && desired_angle < 56) desired_max_bom = 2; |
| 600 | if (desired_angle >= 56 && desired_angle < 78) desired_max_bom = 3; |
| 601 | if (desired_angle >= 78 && desired_angle < 101) desired_max_bom = 4; |
| 602 | if (desired_angle >= 101 && desired_angle < 123) desired_max_bom = 5; |
| 603 | if (desired_angle >= 123 && desired_angle < 145) desired_max_bom = 6; |
| 604 | if (desired_angle >= 145 && desired_angle < 167) desired_max_bom = 7; |
| 605 | if (desired_angle >= 167 && desired_angle < 190) desired_max_bom = 8; |
| 606 | if (desired_angle >= 190 && desired_angle < 212) desired_max_bom = 9; |
| 607 | if (desired_angle >= 212 && desired_angle < 235) desired_max_bom = 10; |
| 608 | if (desired_angle >= 235 && desired_angle < 257) desired_max_bom = 11; |
| 609 | if (desired_angle >= 257 && desired_angle < 280) desired_max_bom = 12; |
| 610 | if (desired_angle >= 280 && desired_angle < 302) desired_max_bom = 13; |
| 611 | if (desired_angle >= 302 && desired_angle < 325) desired_max_bom = 14; |
| 612 | if (desired_angle >= 325 && desired_angle < 348) desired_max_bom = 15; |
| 613 | } |
| 614 | |
| 615 | |
| 616 | |
| 617 | |
| 618 | |
| 619 | |
| 620 | void switch_sending () |
| 621 | {
|
| 622 | if(sending) |
| 623 | {
|
| 624 | sending = 0; |
| 625 | bom_off(); |
| 626 | } |
| 627 | else |
| 628 | {
|
| 629 | sending = 1; |
| 630 | bom_on(); |
| 631 | } |
| 632 | } |
| 633 | |
| 634 | |
| 635 | |
| 636 | int main(void) |
| 637 | {
|
| 638 | |
| 639 | |
| 640 | |
| 641 | int sending_counter = 0; |
| 642 | |
| 643 | // Initialize dragonfly board |
| 644 | |
| 645 | dragonfly_init(ALL_ON); |
| 646 | xbee_init(); |
| 647 | wl_basic_init_default(); |
| 648 | wl_set_channel(12); |
| 649 | int data_length; |
| 650 | unsigned char *packet_data; |
| 651 | char send_buffer[2]; |
| 652 | |
| 653 | |
| 654 | if(wheel()>100) |
| 655 | {
|
| 656 | master = 1; |
| 657 | } |
| 658 | |
| 659 | |
| 660 | if(master) {orb1_set_color(RED); set_desired_max_bom(30);}
|
| 661 | else orb1_set_color(BLUE); |
| 662 | |
| 663 | |
| 664 | while(1) |
| 665 | {
|
| 666 | |
| 667 | |
| 668 | |
| 669 | |
| 670 | bom_refresh(BOM_ALL); |
| 671 | |
| 672 | |
| 673 | |
| 674 | if(master) |
| 675 | {
|
| 676 | |
| 677 | if(sending_counter++>4) // clock for switching the BOMs between the master and slave |
| 678 | {
|
| 679 | switch_sending(); |
| 680 | sending_counter = 0; |
| 681 | send_buffer[0] = 'a'; |
| 682 | wl_basic_send_global_packet(42, send_buffer, 1); |
| 683 | } |
| 684 | |
| 685 | |
| 686 | if(sending) |
| 687 | {
|
| 688 | |
| 689 | |
| 690 | |
| 691 | |
| 692 | |
| 693 | } |
| 694 | |
| 695 | else // recieving |
| 696 | {
|
| 697 | int max_bom = bom_get_max(); |
| 698 | usb_puts("bom_get_max : ");
|
| 699 | usb_puti(max_bom); |
| 700 | usb_puts("\n\r");
|
| 701 | |
| 702 | if(max_bom == desired_max_bom) |
| 703 | {
|
| 704 | if(bom_max_counter) // only stops the slave if two consecutive boms reading give the desired bom as the max one. Filters the noise. |
| 705 | {
|
| 706 | send_buffer[0] = 's'; |
| 707 | wl_basic_send_global_packet(42, send_buffer, 2); |
| 708 | } |
| 709 | bom_max_counter =1; |
| 710 | } |
| 711 | else bom_max_counter = 0; |
| 712 | |
| 713 | } |
| 714 | } |
| 715 | |
| 716 | |
| 717 | |
| 718 | else // slave |
| 719 | {
|
| 720 | if(packet_data[0]=='s') stop=1; |
| 721 | if(packet_data[0]=='a') switch_sending(); |
| 722 | |
| 723 | if(sending) |
| 724 | {
|
| 725 | |
| 726 | } |
| 727 | |
| 728 | else // recieving |
| 729 | {
|
| 730 | |
| 731 | if(stop) |
| 732 | {
|
| 733 | motor_l_set(FORWARD,0); |
| 734 | motor_r_set(FORWARD,0); |
| 735 | orb1_set_color(GREEN); |
| 736 | } |
| 737 | |
| 738 | else |
| 739 | {
|
| 740 | int max_bom = bom_get_max(); |
| 741 | |
| 742 | |
| 743 | |
| 744 | if(max_bom == 8) |
| 745 | {
|
| 746 | orb2_set_color(BLUE); |
| 747 | motor_r_set(FORWARD,180); |
| 748 | motor_l_set(FORWARD,180); |
| 749 | |
| 750 | } |
| 751 | else if(max_bom == 7 || max_bom == 6 || max_bom == 5) |
| 752 | {
|
| 753 | motor_l_set(FORWARD,180); |
| 754 | motor_r_set(FORWARD,0); |
| 755 | } |
| 756 | else if(max_bom == -1); |
| 757 | else |
| 758 | {
|
| 759 | orb2_set_color(GREEN); |
| 760 | motor_l_set(FORWARD,0); |
| 761 | motor_r_set(FORWARD,180); |
| 762 | } |
| 763 | } |
| 764 | |
| 765 | |
| 766 | } |
| 767 | |
| 768 | |
| 769 | } |
| 770 | |
| 771 | packet_data = wl_basic_do_default(&data_length); |
| 772 | delay_ms(10); |
| 773 | } |
| 774 | |
| 775 | |
| 776 | return 0; |
| 777 | |
| 778 | |
| 779 | |
| 780 | |
| 781 | } |
| 782 | |
| 783 | |
| 784 | |
| 785 | */ |
| 786 |