Revision 1840
Added james and ben's hunter prey code.
| main.c | ||
|---|---|---|
| 1 |
/* |
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* Hunter-Prey main.c File - Implementation of Hunter-Prey behavior which |
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* uses finite state machines to manage the behavior. A top level |
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* state machine controls the high level behavior switches between |
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* "hunter" and "prey" and manages the wireless communication. Two |
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* additional state machines control the behavior of the robot when |
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* it is in "prey" mode and when it is in "hunter" mode. |
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* |
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| 9 |
* Author: John Sexton, Colony Project, CMU Robotics Club |
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| 10 |
*/ |
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|
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| 12 | 1 |
#include <dragonfly_lib.h> |
| 13 | 2 |
#include <wl_basic.h> |
| 14 | 3 |
#include "hunter_prey.h" |
| 15 |
#include "encoders.h" |
|
| 16 | 4 |
|
| 17 |
#define WL_CHANNEL 24 |
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| 5 |
#define WL_CHANNEL 12 |
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#define HUNTER 3 |
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#define PREY 1 |
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| 8 |
#define PREHUNTER 2 |
|
| 9 |
#define PREPREY 0 |
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| 10 |
#define WAITING 4 |
|
| 18 | 11 |
|
| 19 |
#define BACK_THRESHOLD -1000 |
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#define TURN_DIST 1024 |
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#define IR_DIST_THRESHOLD 150 |
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#define WAIT_DELAY_MS 2000 |
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| 23 |
|
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| 24 |
/* State Macros */ |
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| 25 |
|
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/* Top Level FSM States */ |
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#define TOP_INIT 0 |
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#define TOP_HUNTER_HUNT 1 |
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#define TOP_HUNTER_TAG 2 |
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#define TOP_HUNTER_PURSUE 3 |
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#define TOP_PREY_AVOID 4 |
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#define TOP_HUNTER_WAIT 5 |
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#define TOP_ERROR 6 |
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| 34 |
|
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/* Hunter FSM States */ |
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#define HUNTER_SPIRAL 0 |
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#define HUNTER_CHASE 1 |
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|
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/* Prey FSM States */ |
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#define PREY_START_BACK 0 |
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#define PREY_BACKING 1 |
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#define PREY_TURN 2 |
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#define PREY_AVOID 3 |
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|
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| 45 |
|
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| 46 |
/* Function prototype declarations */ |
|
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int hunter_FSM(int, int, int); |
|
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int prey_FSM(int); |
|
| 49 |
|
|
| 50 | 12 |
/* Variables used to receive packets */ |
| 51 | 13 |
unsigned char* packet_data; |
| 52 | 14 |
int data_length; |
| ... | ... | |
| 59 | 21 |
|
| 60 | 22 |
/* Initialize dragonfly board */ |
| 61 | 23 |
dragonfly_init(ALL_ON); |
| 62 |
xbee_init(); |
|
| 63 |
encoders_init(); |
|
| 64 |
|
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/* Initialize the basic wireless library */ |
|
| 24 |
/* Initialize the XBEE */ |
|
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xbee_init(); |
|
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/* Initialize the basic wireless library */ |
|
| 66 | 27 |
wl_basic_init_default(); |
| 67 |
|
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/* Set the XBee channel to assigned channel */ |
|
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/* Set the XBee channel to your assigned channel */ |
|
| 69 | 29 |
wl_set_channel(WL_CHANNEL); |
| 30 |
/* Initialize Orbs*/ |
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orb_init(); |
|
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/* Initialize Clock*/ |
|
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rtc_init(SIXTEENTH_SECOND, NULL); |
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/* Initialize motors*/ |
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motors_init(); |
|
| 70 | 36 |
|
| 71 |
|
|
| 72 | 37 |
/* ****** CODE HERE ******* */ |
| 73 |
|
|
| 74 |
/* Initialize state machines */ |
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int state = TOP_INIT; |
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int hunter_state = HUNTER_SPIRAL; |
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int prey_state = PREY_AVOID; |
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| 78 |
|
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int frontIR = 0; |
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int maxBOM = 0; |
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int robotID = get_robotid(); |
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int oldTime = 0, curTime = 0; |
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|
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while (1) {
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|
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/* Check if we've received a wireless packet */ |
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packet_data = wl_basic_do_default(&data_length); |
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|
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/* Top level state machines */ |
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switch(state) {
|
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|
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case TOP_INIT: |
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orbs_set_color(RED, GREEN); |
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delay_ms(500); |
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orbs_set_color(GREEN, RED); |
|
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delay_ms(500); |
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| 97 |
|
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/* Allow user to pick the starting behavior */ |
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if (button1_read()) {
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state = TOP_PREY_AVOID; |
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prey_state = PREY_AVOID; |
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} else {
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state = TOP_HUNTER_HUNT; |
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hunter_state = HUNTER_SPIRAL; |
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} |
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break; |
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case TOP_HUNTER_HUNT: |
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orbs_set_color(RED, RED); |
|
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|
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if (packet_data && data_length == 2 |
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&& packet_data[0] == HUNTER_PREY_ACTION_ACK) {
|
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/* If we've received an ACK, we need to wait */ |
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state = TOP_HUNTER_WAIT; |
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} else {
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/* Record some sensor readings and check if we can TAG */ |
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bom_refresh(BOM_ALL); |
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frontIR = range_read_distance(IR2); |
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maxBOM = get_max_bom(); |
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if (hunter_prey_tagged(maxBOM, frontIR)) {
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state = TOP_HUNTER_TAG; |
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} else {
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/* If we haven't tagged, then enter hunter FSM */ |
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hunter_state = hunter_FSM(hunter_state, maxBOM, frontIR); |
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} |
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} |
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break; |
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case TOP_HUNTER_TAG: |
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orbs_set_color(RED, PURPLE); |
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if (packet_data && data_length == 2 |
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&& packet_data[0] == HUNTER_PREY_ACTION_ACK) {
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/* If we've received an ACK, then someone beat us to the TAG and |
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* we need to wait. */ |
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state = TOP_HUNTER_WAIT; |
|
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} else {
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/* Prepare and send the TAG packet */ |
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send_buffer[0] = HUNTER_PREY_ACTION_TAG; |
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send_buffer[1] = robotID; |
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wl_basic_send_global_packet(42, send_buffer, 2); |
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/* Record the time so we don't spam a TAG message on the network */ |
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oldTime = rtc_get(); |
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state = TOP_HUNTER_PURSUE; |
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} |
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break; |
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case TOP_HUNTER_PURSUE: |
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orbs_set_color(RED, BLUE); |
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curTime = rtc_get(); |
|
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|
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if (packet_data && data_length == 2 |
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&& packet_data[0] == HUNTER_PREY_ACTION_ACK) {
|
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/* Check if we've received a new wireless packet */ |
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if (packet_data[1] == robotID) {
|
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/* We've been ACKed, so we can now become the prey */ |
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state = TOP_PREY_AVOID; |
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prey_state = PREY_START_BACK; |
|
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} else {
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/* If we get an ACK with a different robotID, then someone beat us |
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* to the TAG, so we must wait */ |
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state = TOP_HUNTER_WAIT; |
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} |
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|
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| 164 |
} else if (curTime - oldTime > 1) {
|
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/* If 1 second has ellapsed, return to normal hunting state (we can |
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* TAG again now) */ |
|
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state = TOP_HUNTER_HUNT; |
|
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} else if (oldTime > curTime) {
|
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/* If for some reason the timer overflows, or the wireless library |
|
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* (which is also using the same timer) resets the timer, |
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* reinitialize the timer so that we don't wait too long for the |
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* timer to catch back up. */ |
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oldTime = curTime; |
|
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} else {
|
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/* If no other behavioral changes need to be made, then continue |
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* with the hunter FSM where we left off */ |
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bom_refresh(BOM_ALL); |
|
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frontIR = range_read_distance(IR2); |
|
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maxBOM = get_max_bom(); |
|
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hunter_state = hunter_FSM(hunter_state, maxBOM, frontIR); |
|
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} |
|
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break; |
|
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case TOP_PREY_AVOID: |
|
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orbs_set_color(GREEN, GREEN); |
|
| 185 |
if (packet_data && data_length == 2 |
|
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&& packet_data[0] == HUNTER_PREY_ACTION_TAG) {
|
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/* Check if we've received a TAG yet. If so then send an ACK back */ |
|
| 188 |
|
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send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
|
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send_buffer[1] = packet_data[1]; |
|
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wl_basic_send_global_packet(42, send_buffer, 2); |
|
| 192 |
|
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state = TOP_HUNTER_WAIT; |
|
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} else {
|
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/* If we haven't received a TAG yet, continue with prey FSM */ |
|
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bom_on(); |
|
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prey_state = prey_FSM(prey_state); |
|
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} |
|
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break; |
|
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case TOP_HUNTER_WAIT: |
|
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/* Set orb colors and wait to give the prey the 5 second head start */ |
|
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orbs_set_color(BLUE, BLUE); |
|
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bom_off(); |
|
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motors_off(); |
|
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delay_ms(WAIT_DELAY_MS); |
|
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state = TOP_HUNTER_HUNT; |
|
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hunter_state = HUNTER_SPIRAL; |
|
| 208 |
break; |
|
| 209 |
case TOP_ERROR: |
|
| 210 |
default: |
|
| 211 |
orbs_set_color(PURPLE, PURPLE); |
|
| 212 |
state = TOP_ERROR; |
|
| 213 |
while(1); |
|
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break; |
|
| 215 |
} |
|
| 216 |
|
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int state=PREPREY, time, max_bom_reading, front_rangefinder_reading, angle, d1=80, d2=80, d3=80, d4=80, d5=80, speed=0; |
|
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unsigned char id=get_robotid(), tag; |
|
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|
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while(1){
|
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| 42 |
// time=rtc_get(); |
|
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switch(state){
|
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case PREPREY:{/* pre-prey*/
|
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orb1_set_color(YELLOW); |
|
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bom_on(); |
|
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state=PREY; |
|
| 48 |
delay_ms(50); |
|
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while(wl_basic_do_default(&data_length)); |
|
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orb1_set_color(GREEN); |
|
| 51 |
rtc_reset(); |
|
| 52 |
break; |
|
| 217 | 53 |
} |
| 218 |
|
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| 219 |
/* ****** END HERE ******* */ |
|
| 220 |
|
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| 221 |
while(1); |
|
| 222 |
|
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return 0; |
|
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|
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} |
|
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|
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| 227 |
|
|
| 228 |
/* |
|
| 229 |
* prey_FSM - Prey finite state machine which starts by backing away, turning, |
|
| 230 |
* and then running and avoiding obstacles. |
|
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* |
|
| 232 |
* Arguments: |
|
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* prey_state - Current prey state. |
|
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* |
|
| 235 |
* returns - The new state of the prey state machine. |
|
| 236 |
*/ |
|
| 237 |
|
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| 238 |
int prey_FSM(int prey_state) {
|
|
| 239 |
|
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/* Variable to store the front rangefinder readings */ |
|
| 241 |
int rangeVals[3] = {0, 0, 0};
|
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| 242 |
|
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| 243 |
switch (prey_state) {
|
|
| 244 |
|
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| 245 |
case PREY_START_BACK: |
|
| 246 |
motor_l_set(BACKWARD, 255); |
|
| 247 |
motor_r_set(BACKWARD, 255); |
|
| 248 |
encoder_rst_dx(LEFT); |
|
| 249 |
encoder_rst_dx(RIGHT); |
|
| 250 |
return PREY_BACKING; |
|
| 54 |
case PREY:{/*prey mode*/
|
|
| 55 |
int t1 = 0; |
|
| 56 |
int t2 = 0; |
|
| 57 |
int timechecked = 0; |
|
| 58 |
int beginning = 1; |
|
| 59 |
orb_set_color(GREEN); |
|
| 60 |
|
|
| 61 |
while(1) |
|
| 62 |
{
|
|
| 63 |
int front = range_read_distance(IR2); |
|
| 64 |
packet_data = wl_basic_do_default(&data_length); |
|
| 65 |
if(packet_data != 0) |
|
| 66 |
{
|
|
| 67 |
if(data_length == 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
|
| 68 |
{
|
|
| 69 |
send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
|
| 70 |
send_buffer[1] = packet_data[1]; |
|
| 71 |
wl_basic_send_global_packet(42, send_buffer, 2); |
|
| 72 |
state=PREHUNTER; |
|
| 73 |
motor_r_set(0,0);motor_l_set(0,0); |
|
| 74 |
break; |
|
| 75 |
} |
|
| 76 |
} |
|
| 77 |
int side1 = range_read_distance(IR1); |
|
| 78 |
int side2 = range_read_distance(IR3); |
|
| 79 |
t2 = rtc_get(); |
|
| 80 |
if(front < 200 && front > 50 && !(timechecked == 1)) |
|
| 81 |
{
|
|
| 82 |
orb2_set_color(RED); |
|
| 83 |
timechecked = 1; |
|
| 84 |
t1 = rtc_get(); |
|
| 85 |
motor_l_set(1, 255); |
|
| 86 |
motor_r_set(0, 0); |
|
| 87 |
} |
|
| 88 |
else if(side1 < 300 && side1 > 0 && timechecked != 1) |
|
| 89 |
{
|
|
| 90 |
motor_r_set(0,0); |
|
| 91 |
} |
|
| 92 |
else if(side2 < 300 && side2 > 0 && timechecked != 1) |
|
| 93 |
{
|
|
| 94 |
motor_l_set(0,0); |
|
| 95 |
} |
|
| 96 |
else |
|
| 97 |
{
|
|
| 98 |
if(t2 - t1 > 2 || beginning == 1) |
|
| 99 |
{
|
|
| 100 |
orb2_set_color(BLUE); |
|
| 101 |
timechecked = 0; |
|
| 102 |
motor_l_set(1, 255); |
|
| 103 |
motor_r_set(1, 255); |
|
| 104 |
beginning = 0; |
|
| 105 |
} |
|
| 106 |
} |
|
| 107 |
} |
|
| 251 | 108 |
break; |
| 252 |
case PREY_BACKING: |
|
| 253 |
if (encoder_get_x(LEFT) < BACK_THRESHOLD |
|
| 254 |
|| encoder_get_x(RIGHT) < BACK_THRESHOLD) {
|
|
| 255 |
motor_l_set(BACKWARD, 255); |
|
| 256 |
motor_r_set(FORWARD, 255); |
|
| 257 |
encoder_rst_dx(LEFT); |
|
| 258 |
encoder_rst_dx(RIGHT); |
|
| 259 |
return PREY_TURN; |
|
| 260 |
} else {
|
|
| 261 |
return PREY_BACKING; |
|
| 262 |
} |
|
| 109 |
} |
|
| 110 |
case PREHUNTER:{/*new hunter mode (5 second pause)*/
|
|
| 111 |
orb1_set_color(BLUE); |
|
| 112 |
motors_off(); |
|
| 113 |
state=HUNTER; |
|
| 114 |
rtc_reset(); |
|
| 115 |
bom_off(); |
|
| 116 |
delay_ms(5000); |
|
| 117 |
while(wl_basic_do_default(&data_length)); |
|
| 118 |
orb1_set_color(RED); |
|
| 263 | 119 |
break; |
| 264 |
case PREY_TURN: |
|
| 265 |
if (encoder_get_x(LEFT) < -TURN_DIST |
|
| 266 |
|| encoder_get_x(RIGHT) > TURN_DIST) {
|
|
| 267 |
return PREY_AVOID; |
|
| 268 |
} else {
|
|
| 269 |
return PREY_TURN; |
|
| 270 |
} |
|
| 271 |
break; |
|
| 272 |
case PREY_AVOID: |
|
| 273 |
rangeVals[0] = range_read_distance(IR1); |
|
| 274 |
rangeVals[1] = range_read_distance(IR2); |
|
| 275 |
rangeVals[2] = range_read_distance(IR3); |
|
| 276 |
|
|
| 277 |
/* Drive away if we detect obstacles using the rangefinders */ |
|
| 278 |
if (rangeVals[1] > 0 && rangeVals[1] < IR_DIST_THRESHOLD) {
|
|
| 279 |
if (rangeVals[0] < rangeVals[2]) {
|
|
| 280 |
motor_l_set(FORWARD, 255); |
|
| 281 |
motor_r_set(BACKWARD, 255); |
|
| 282 |
} else {
|
|
| 283 |
motor_l_set(BACKWARD, 255); |
|
| 284 |
motor_r_set(FORWARD, 255); |
|
| 285 |
} |
|
| 286 |
return PREY_AVOID; |
|
| 287 |
} else if (rangeVals[0] > 0 && rangeVals[0] < IR_DIST_THRESHOLD) {
|
|
| 120 |
} |
|
| 121 |
case HUNTER:{/*hunter mode*/
|
|
| 122 |
orb2_set_color(ORB_OFF); |
|
| 123 |
/*HUNT*/ |
|
| 124 |
angle=0; speed=FULL_SPD; |
|
| 125 |
if(max_bom_reading==4){
|
|
| 288 | 126 |
motor_l_set(FORWARD, 255); |
| 289 |
motor_r_set(FORWARD, 170); |
|
| 290 |
return PREY_AVOID; |
|
| 291 |
} else if (rangeVals[2] > 0 && rangeVals[2] < IR_DIST_THRESHOLD) {
|
|
| 292 |
motor_l_set(FORWARD, 170); |
|
| 293 | 127 |
motor_r_set(FORWARD, 255); |
| 294 |
return PREY_AVOID;
|
|
| 295 |
} else {
|
|
| 128 |
}
|
|
| 129 |
if(max_bom_reading>=1 && max_bom_reading<=3){
|
|
| 296 | 130 |
motor_l_set(FORWARD, 255); |
| 297 |
motor_r_set(FORWARD, 255); |
|
| 298 |
return PREY_AVOID; |
|
| 299 |
} |
|
| 300 |
break; |
|
| 301 |
default: |
|
| 302 |
return PREY_AVOID; |
|
| 303 |
break; |
|
| 304 |
|
|
| 305 |
} |
|
| 306 |
|
|
| 307 |
return prey_state; |
|
| 308 |
|
|
| 309 |
} |
|
| 310 |
|
|
| 311 |
|
|
| 312 |
/* |
|
| 313 |
* hunter_FSM - Hunter finite state machine which defaults to spiraling |
|
| 314 |
* outwards until the BOM can locate the prey. Once the BOM locates |
|
| 315 |
* the prey, chase the prey as fast as possible. |
|
| 316 |
* |
|
| 317 |
* Arguments: |
|
| 318 |
* hunter_state - Current hunter state. |
|
| 319 |
* maxBOM - Current maximum BOM value. |
|
| 320 |
* frontIR - Current front IR rangefinder reading value. |
|
| 321 |
* |
|
| 322 |
* returns - The new state of the hunter state machine. |
|
| 323 |
*/ |
|
| 324 |
|
|
| 325 |
int hunter_FSM(int hunter_state, int maxBOM, int frontIR) {
|
|
| 326 |
|
|
| 327 |
switch(hunter_state) {
|
|
| 328 |
|
|
| 329 |
case HUNTER_SPIRAL: |
|
| 330 |
if (maxBOM != -1) {
|
|
| 331 |
return HUNTER_CHASE; |
|
| 332 |
} else {
|
|
| 333 |
motor_l_set(FORWARD, 170); |
|
| 334 | 131 |
motor_r_set(FORWARD, 190); |
| 335 |
return HUNTER_SPIRAL; |
|
| 336 | 132 |
} |
| 337 |
break; |
|
| 338 |
case HUNTER_CHASE: |
|
| 339 |
|
|
| 340 |
if (maxBOM == -1) {
|
|
| 341 |
return HUNTER_CHASE; |
|
| 342 |
} else if (maxBOM == 4) {
|
|
| 343 |
motor_l_set(FORWARD, 255); |
|
| 133 |
if(max_bom_reading>=5 && max_bom_reading<=7){
|
|
| 134 |
motor_l_set(FORWARD, 190); |
|
| 344 | 135 |
motor_r_set(FORWARD, 255); |
| 345 |
return HUNTER_CHASE; |
|
| 346 |
} else if (maxBOM == 3) {
|
|
| 347 |
motor_l_set(FORWARD, 255); |
|
| 348 |
motor_r_set(FORWARD, 240); |
|
| 349 |
return HUNTER_CHASE; |
|
| 350 |
} else if (maxBOM == 5) {
|
|
| 351 |
motor_l_set(FORWARD, 240); |
|
| 136 |
} |
|
| 137 |
if((max_bom_reading>=8 && max_bom_reading<=11) || max_bom_reading<0){
|
|
| 138 |
motor_l_set(BACKWARD, 170); |
|
| 352 | 139 |
motor_r_set(FORWARD, 255); |
| 353 |
return HUNTER_CHASE; |
|
| 354 |
} else if (maxBOM < 3) {
|
|
| 140 |
orb2_set_color(RED); |
|
| 141 |
} |
|
| 142 |
if((max_bom_reading>=12 && max_bom_reading<=15) || max_bom_reading==0){
|
|
| 355 | 143 |
motor_l_set(FORWARD, 255); |
| 356 |
motor_r_set(FORWARD, 170); |
|
| 357 |
return HUNTER_CHASE; |
|
| 358 |
} else if (maxBOM > 5 && maxBOM <= 8) {
|
|
| 359 |
motor_l_set(FORWARD, 170); |
|
| 360 |
motor_r_set(FORWARD, 255); |
|
| 361 |
return HUNTER_CHASE; |
|
| 362 |
} else if (maxBOM > 8 && maxBOM < 12) {
|
|
| 363 |
motor_l_set(BACKWARD, 255); |
|
| 364 |
motor_r_set(FORWARD, 255); |
|
| 365 |
return HUNTER_CHASE; |
|
| 366 |
} else {
|
|
| 367 |
motor_l_set(FORWARD, 255); |
|
| 368 |
motor_r_set(BACKWARD, 255); |
|
| 369 |
return HUNTER_CHASE; |
|
| 144 |
motor_r_set(BACKWARD, 170); |
|
| 370 | 145 |
} |
| 146 |
/*Tagging*/ |
|
| 147 |
packet_data = wl_basic_do_default(&data_length); |
|
| 148 |
if(packet_data != 0 && packet_data[0]==HUNTER_PREY_ACTION_ACK && packet_data[1]!=id){
|
|
| 149 |
state=PREHUNTER; |
|
| 150 |
} |
|
| 151 |
bom_refresh(BOM_ALL); |
|
| 152 |
front_rangefinder_reading = -1; |
|
| 153 |
while(front_rangefinder_reading == -1){
|
|
| 154 |
front_rangefinder_reading = range_read_distance(IR2); |
|
| 155 |
} |
|
| 156 |
delay_ms(10); |
|
| 157 |
max_bom_reading = bom_get_max(); |
|
| 158 |
tag = hunter_prey_tagged(max_bom_reading, front_rangefinder_reading); |
|
| 159 |
time = rtc_get(); |
|
| 160 |
if(button2_read()==1 || (tag && time>16)){
|
|
| 161 |
send_buffer[0]=HUNTER_PREY_ACTION_TAG; |
|
| 162 |
send_buffer[1]=id; |
|
| 163 |
wl_basic_send_global_packet( 42, send_buffer, 2 ); |
|
| 164 |
rtc_reset(); |
|
| 165 |
state=WAITING; |
|
| 166 |
orb1_set_color(PURPLE); |
|
| 167 |
} |
|
| 371 | 168 |
break; |
| 372 |
default: |
|
| 373 |
return HUNTER_SPIRAL; |
|
| 169 |
} |
|
| 170 |
case WAITING:{/*Waiting for ack after sending tag*/
|
|
| 171 |
time = rtc_get(); |
|
| 172 |
packet_data = wl_basic_do_default(&data_length); |
|
| 173 |
if(packet_data != 0 && packet_data[0]==HUNTER_PREY_ACTION_ACK && packet_data[1]==id){
|
|
| 174 |
state=PREPREY; |
|
| 175 |
rtc_reset(); |
|
| 176 |
} |
|
| 177 |
if(packet_data != 0 && packet_data[0]==HUNTER_PREY_ACTION_ACK && packet_data[1]!=id){
|
|
| 178 |
state=PREHUNTER; |
|
| 179 |
} |
|
| 180 |
if(time>16){
|
|
| 181 |
state=HUNTER; |
|
| 182 |
orb1_set_color(RED); |
|
| 183 |
} |
|
| 374 | 184 |
break; |
| 375 |
|
|
| 185 |
} |
|
| 186 |
} |
|
| 376 | 187 |
} |
| 377 | 188 |
|
| 378 |
return hunter_state;
|
|
| 189 |
/* ****** END HERE ******* */
|
|
| 379 | 190 |
|
| 191 |
while(1); |
|
| 192 |
|
|
| 193 |
return 0; |
|
| 194 |
|
|
| 380 | 195 |
} |
| 196 |
|
|
Also available in: Unified diff