root / trunk / code / behaviors / hunter_prey / james / main.c @ 1847
History | View | Annotate | Download (4.95 KB)
| 1 |
#include <dragonfly_lib.h> |
|---|---|
| 2 |
#include <wl_basic.h> |
| 3 |
#include "hunter_prey.h" |
| 4 |
|
| 5 |
#define WL_CHANNEL 15 |
| 6 |
#define HUNTER 3 |
| 7 |
#define PREY 1 |
| 8 |
#define PREHUNTER 2 |
| 9 |
#define PREPREY 0 |
| 10 |
#define WAITING 4 |
| 11 |
|
| 12 |
/* Variables used to receive packets */
|
| 13 |
unsigned char* packet_data; |
| 14 |
int data_length;
|
| 15 |
|
| 16 |
/* Data buffer used to send packets */
|
| 17 |
char send_buffer[2]; |
| 18 |
|
| 19 |
int main(void) |
| 20 |
{
|
| 21 |
|
| 22 |
/* Initialize dragonfly board */
|
| 23 |
dragonfly_init(ALL_ON); |
| 24 |
/* Initialize the XBEE */
|
| 25 |
xbee_init(); |
| 26 |
/* Initialize the basic wireless library */
|
| 27 |
wl_basic_init_default(); |
| 28 |
/* Set the XBee channel to your assigned channel */
|
| 29 |
wl_set_channel(WL_CHANNEL); |
| 30 |
/* Initialize Orbs*/
|
| 31 |
orb_init(); |
| 32 |
/* Initialize Clock*/
|
| 33 |
rtc_init(SIXTEENTH_SECOND, NULL);
|
| 34 |
/* Initialize motors*/
|
| 35 |
motors_init(); |
| 36 |
|
| 37 |
int state=PREPREY, time, max_bom_reading, front_rangefinder_reading, angle, d1=80, d2=80, d3=80, d4=80, d5=80, speed=0; |
| 38 |
unsigned char id=get_robotid(), tag; |
| 39 |
|
| 40 |
if(wheel() < 100) |
| 41 |
state=HUNTER; |
| 42 |
|
| 43 |
while(1){ |
| 44 |
switch(state)
|
| 45 |
{
|
| 46 |
case PREPREY:
|
| 47 |
{
|
| 48 |
orb1_set_color(YELLOW); |
| 49 |
bom_on(); |
| 50 |
state=PREY; |
| 51 |
motor_r_set(BACKWARD,200);
|
| 52 |
motor_l_set(BACKWARD,200);
|
| 53 |
delay_ms(2000);
|
| 54 |
while(wl_basic_do_default(&data_length));
|
| 55 |
orb1_set_color(GREEN); |
| 56 |
rtc_reset(); |
| 57 |
break;
|
| 58 |
} |
| 59 |
case PREY:
|
| 60 |
{
|
| 61 |
int t1 = 0; |
| 62 |
int t2 = 0; |
| 63 |
int timechecked = 0; |
| 64 |
int beginning = 1; |
| 65 |
orb1_set_color(GREEN); |
| 66 |
orb2_set_color(GREEN); |
| 67 |
|
| 68 |
while(1) |
| 69 |
{
|
| 70 |
int front = range_read_distance(IR2);
|
| 71 |
packet_data = wl_basic_do_default(&data_length); |
| 72 |
if(packet_data != 0) |
| 73 |
{
|
| 74 |
if(data_length == 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
| 75 |
{
|
| 76 |
send_buffer[0] = HUNTER_PREY_ACTION_ACK;
|
| 77 |
send_buffer[1] = packet_data[1]; |
| 78 |
wl_basic_send_global_packet(42, send_buffer, 2); |
| 79 |
state=PREHUNTER; |
| 80 |
motor_r_set(0,0);motor_l_set(0,0); |
| 81 |
break;
|
| 82 |
} |
| 83 |
} |
| 84 |
int side1 = range_read_distance(IR1);
|
| 85 |
int side2 = range_read_distance(IR3);
|
| 86 |
t2 = rtc_get(); |
| 87 |
if(front < 200 && front > 50 && !(timechecked == 1)) |
| 88 |
{
|
| 89 |
orb2_set_color(RED); |
| 90 |
timechecked = 1;
|
| 91 |
t1 = rtc_get(); |
| 92 |
motor_l_set(1, 255); |
| 93 |
motor_r_set(0, 0); |
| 94 |
} |
| 95 |
else if(side1 < 300 && side1 > 0 && timechecked != 1) |
| 96 |
{
|
| 97 |
motor_r_set(0,0); |
| 98 |
} |
| 99 |
else if(side2 < 300 && side2 > 0 && timechecked != 1) |
| 100 |
{
|
| 101 |
motor_l_set(0,0); |
| 102 |
} |
| 103 |
else
|
| 104 |
{
|
| 105 |
if(t2 - t1 > 2 || beginning == 1) |
| 106 |
{
|
| 107 |
orb2_set_color(BLUE); |
| 108 |
timechecked = 0;
|
| 109 |
motor_l_set(1, 255); |
| 110 |
motor_r_set(1, 255); |
| 111 |
beginning = 0;
|
| 112 |
} |
| 113 |
} |
| 114 |
} |
| 115 |
break;
|
| 116 |
} |
| 117 |
case PREHUNTER: /*new hunter mode (5 second pause)*/ |
| 118 |
{
|
| 119 |
orb1_set_color(BLUE); |
| 120 |
orb2_set_color(BLUE); |
| 121 |
motors_off(); |
| 122 |
state=HUNTER; |
| 123 |
rtc_reset(); |
| 124 |
bom_off(); |
| 125 |
delay_ms(3000);
|
| 126 |
while(wl_basic_do_default(&data_length));
|
| 127 |
orb1_set_color(RED); |
| 128 |
break;
|
| 129 |
} |
| 130 |
case HUNTER:
|
| 131 |
{
|
| 132 |
orb1_set_color(RED); |
| 133 |
orb2_set_color(RED); |
| 134 |
/*HUNT*/
|
| 135 |
angle=0; speed=FULL_SPD;
|
| 136 |
if(max_bom_reading==4){ |
| 137 |
motor_l_set(FORWARD, 255);
|
| 138 |
motor_r_set(FORWARD, 255);
|
| 139 |
} |
| 140 |
if(max_bom_reading>=1 && max_bom_reading<=3){ |
| 141 |
motor_l_set(FORWARD, 255);
|
| 142 |
motor_r_set(FORWARD, 190);
|
| 143 |
} |
| 144 |
if(max_bom_reading>=5 && max_bom_reading<=7){ |
| 145 |
motor_l_set(FORWARD, 190);
|
| 146 |
motor_r_set(FORWARD, 255);
|
| 147 |
} |
| 148 |
if((max_bom_reading>=8 && max_bom_reading<=11) || max_bom_reading<0){ |
| 149 |
motor_l_set(BACKWARD, 170);
|
| 150 |
motor_r_set(FORWARD, 255);
|
| 151 |
orb2_set_color(RED); |
| 152 |
} |
| 153 |
if((max_bom_reading>=12 && max_bom_reading<=15) || max_bom_reading==0){ |
| 154 |
motor_l_set(FORWARD, 255);
|
| 155 |
motor_r_set(BACKWARD, 170);
|
| 156 |
} |
| 157 |
/*Tagging*/
|
| 158 |
packet_data = wl_basic_do_default(&data_length); |
| 159 |
if(packet_data != 0 && packet_data[0]==HUNTER_PREY_ACTION_ACK && packet_data[1]!=id){ |
| 160 |
state=PREHUNTER; |
| 161 |
} |
| 162 |
bom_refresh(BOM_ALL); |
| 163 |
front_rangefinder_reading = -1;
|
| 164 |
while(front_rangefinder_reading == -1){ |
| 165 |
front_rangefinder_reading = range_read_distance(IR2); |
| 166 |
} |
| 167 |
delay_ms(10);
|
| 168 |
max_bom_reading = bom_get_max(); |
| 169 |
tag = hunter_prey_tagged(max_bom_reading, front_rangefinder_reading); |
| 170 |
time = rtc_get(); |
| 171 |
if(button2_read()==1 || (tag && time>16)){ |
| 172 |
send_buffer[0]=HUNTER_PREY_ACTION_TAG;
|
| 173 |
send_buffer[1]=id;
|
| 174 |
wl_basic_send_global_packet( 42, send_buffer, 2 ); |
| 175 |
rtc_reset(); |
| 176 |
state=WAITING; |
| 177 |
orb1_set_color(PURPLE); |
| 178 |
} |
| 179 |
break;
|
| 180 |
} |
| 181 |
case WAITING: /*Waiting for ack after sending tag*/ |
| 182 |
{
|
| 183 |
time = rtc_get(); |
| 184 |
packet_data = wl_basic_do_default(&data_length); |
| 185 |
if(packet_data != 0 && packet_data[0]==HUNTER_PREY_ACTION_ACK && packet_data[1]==id){ |
| 186 |
state=PREPREY; |
| 187 |
rtc_reset(); |
| 188 |
} |
| 189 |
if(packet_data != 0 && packet_data[0]==HUNTER_PREY_ACTION_ACK && packet_data[1]!=id){ |
| 190 |
state=PREHUNTER; |
| 191 |
} |
| 192 |
if(time>16){ |
| 193 |
state=HUNTER; |
| 194 |
orb1_set_color(RED); |
| 195 |
} |
| 196 |
break;
|
| 197 |
} |
| 198 |
} |
| 199 |
} |
| 200 |
|
| 201 |
while(1); |
| 202 |
|
| 203 |
return 0; |
| 204 |
|
| 205 |
} |
| 206 |
|