Revision 1848
added Carroll James' hunter prey corrected to bosserman's wireless specifications
trunk/code/behaviors/hunter_prey/james/main.c | ||
---|---|---|
1 |
/*HUNTER_PREY by jamesCarroll 10/26/10*/ |
|
1 | 2 |
#include <dragonfly_lib.h> |
2 | 3 |
#include <wl_basic.h> |
3 | 4 |
#include "hunter_prey.h" |
4 | 5 |
|
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 |
|
6 |
#define WL_CHANNEL 15 |
|
11 | 7 |
|
12 | 8 |
/* Variables used to receive packets */ |
13 | 9 |
unsigned char* packet_data; |
14 | 10 |
int data_length; |
15 | 11 |
|
16 | 12 |
/* Data buffer used to send packets */ |
17 |
char send_buffer[2];
|
|
13 |
char send_buffer[3];
|
|
18 | 14 |
|
19 | 15 |
int main(void) |
20 | 16 |
{ |
21 | 17 |
|
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(); |
|
18 |
/* Initialize dragonfly board */ |
|
19 |
dragonfly_init(ALL_ON); |
|
20 |
/* Initialize the basic wireless library */ |
|
21 |
wl_basic_init_default(); |
|
22 |
/* Set the XBee channel to your assigned channel */ |
|
23 |
wl_set_channel(WL_CHANNEL); |
|
36 | 24 |
|
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; |
|
25 |
/* ****** CODE HERE ******* */ |
|
26 |
int yes= 1; |
|
27 |
int no = 3; |
|
28 |
int speed = 200; |
|
29 |
int isHunter = yes; |
|
30 |
int t1 = 0; |
|
31 |
int t2 = 0; |
|
32 |
int timechecked = 0; |
|
33 |
int beginning = 1; |
|
34 |
send_buffer[2] = get_robotid(); |
|
35 |
if(wheel()<100) |
|
36 |
isHunter=yes; |
|
37 |
else |
|
38 |
isHunter=no; |
|
39 | 39 |
|
40 |
if(wheel() < 100) |
|
41 |
state=HUNTER; |
|
42 |
|
|
43 |
while(1){ |
|
44 |
switch(state) |
|
40 |
while(1) |
|
41 |
{ |
|
42 |
if(isHunter == yes) |
|
45 | 43 |
{ |
46 |
case PREPREY: |
|
44 |
bom_off(); |
|
45 |
orb_set_color(RED); |
|
46 |
while(1) |
|
47 |
{ |
|
48 |
int front = 0; |
|
49 |
front = range_read_distance(IR2); |
|
50 |
bom_refresh(BOM_ALL); |
|
51 |
int bomNum = 0; |
|
52 |
bomNum = bom_get_max(); |
|
53 |
if(hunter_prey_tagged(bomNum, front)) |
|
47 | 54 |
{ |
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; |
|
55 |
send_buffer[0] = HUNTER_PREY_ACTION_TAG; |
|
56 |
send_buffer[1] = get_robotid(); |
|
57 |
wl_basic_send_global_packet(42, send_buffer, 3); |
|
58 | 58 |
} |
59 |
case PREY: |
|
59 |
packet_data = wl_basic_do_default(&data_length); |
|
60 |
if(packet_data != 0) |
|
60 | 61 |
{ |
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) |
|
62 |
if(data_length == 3 && packet_data[0] == HUNTER_PREY_ACTION_ACK) |
|
69 | 63 |
{ |
70 |
int front = range_read_distance(IR2); |
|
71 |
packet_data = wl_basic_do_default(&data_length); |
|
72 |
if(packet_data != 0) |
|
64 |
if(packet_data[1] == get_robotid()) |
|
73 | 65 |
{ |
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 |
} |
|
66 |
orb_set_color(GREEN); |
|
67 |
isHunter = no; |
|
68 |
motor_l_set(1, 200); |
|
69 |
motor_r_set(0,200);delay_ms(1000);break; |
|
83 | 70 |
} |
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); |
|
71 |
else{ |
|
72 |
orb_set_color(BLUE);motor_r_set(0,0);motor_l_set(0,0);delay_ms(3000);break; |
|
94 | 73 |
} |
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 | 74 |
} |
115 |
break; |
|
116 | 75 |
} |
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; |
|
76 |
bom_refresh(BOM_ALL); |
|
77 |
bomNum = bom_get_max(); |
|
78 |
if(bomNum == 4) |
|
79 |
{ |
|
80 |
motor_l_set(1, speed); |
|
81 |
motor_r_set(1, speed); |
|
129 | 82 |
} |
130 |
case HUNTER:
|
|
83 |
else
|
|
131 | 84 |
{ |
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); |
|
85 |
if(bomNum == -1){} |
|
86 |
else if((bomNum >= 12) || (bomNum < 4)) |
|
87 |
{ |
|
88 |
motor_l_set(FORWARD, speed); |
|
89 |
motor_r_set(BACKWARD, speed); |
|
139 | 90 |
} |
140 |
if(max_bom_reading>=1 && max_bom_reading<=3){ |
|
141 |
motor_l_set(FORWARD, 255); |
|
142 |
motor_r_set(FORWARD, 190); |
|
91 |
else |
|
92 |
{ |
|
93 |
motor_l_set(BACKWARD, speed); |
|
94 |
motor_r_set(FORWARD, speed); |
|
143 | 95 |
} |
144 |
if(max_bom_reading>=5 && max_bom_reading<=7){ |
|
145 |
motor_l_set(FORWARD, 190); |
|
146 |
motor_r_set(FORWARD, 255); |
|
96 |
} |
|
97 |
} |
|
98 |
} |
|
99 |
else |
|
100 |
{ |
|
101 |
orb_set_color(GREEN); |
|
102 |
bom_on(); |
|
103 |
while(1) |
|
104 |
{ |
|
105 |
int front = range_read_distance(IR2); |
|
106 |
packet_data = wl_basic_do_default(&data_length); |
|
107 |
if(packet_data != 0) |
|
108 |
{ |
|
109 |
if(data_length == 3 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
|
110 |
{ |
|
111 |
send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
|
112 |
send_buffer[1] = packet_data[1]; |
|
113 |
wl_basic_send_global_packet(42, send_buffer, 3); |
|
114 |
isHunter=yes; |
|
115 |
orb_set_color(BLUE); |
|
116 |
motor_r_set(0,0);motor_l_set(0,0); |
|
117 |
bom_off(); |
|
118 |
delay_ms(3000); |
|
119 |
break; |
|
147 | 120 |
} |
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 | 121 |
} |
181 |
case WAITING: /*Waiting for ack after sending tag*/ |
|
122 |
int side1 = range_read_distance(IR1); |
|
123 |
int side2 = range_read_distance(IR3); |
|
124 |
t2 = rtc_get(); |
|
125 |
if(front < 200 && front > 50 && !(timechecked == 1)) |
|
182 | 126 |
{ |
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(); |
|
127 |
orb2_set_color(RED); |
|
128 |
timechecked = 1; |
|
129 |
t1 = rtc_get(); |
|
130 |
motor_l_set(1, speed); |
|
131 |
motor_r_set(0, 0); |
|
132 |
} |
|
133 |
else if(side1 < 300 && side1 > 0 && timechecked != 1) |
|
134 |
{ |
|
135 |
motor_r_set(0,0); |
|
136 |
} |
|
137 |
else if(side2 < 300 && side2 > 0 && timechecked != 1) |
|
138 |
{ |
|
139 |
motor_l_set(0,0); |
|
140 |
} |
|
141 |
else |
|
142 |
{ |
|
143 |
if(t2 - t1 > 2 || beginning == 1) |
|
144 |
{ |
|
145 |
orb2_set_color(BLUE); |
|
146 |
timechecked = 0; |
|
147 |
motor_l_set(1, speed); |
|
148 |
motor_r_set(1, speed); |
|
149 |
beginning = 0; |
|
188 | 150 |
} |
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 | 151 |
} |
152 |
} |
|
198 | 153 |
} |
199 | 154 |
} |
200 | 155 |
|
201 |
while(1); |
|
202 | 156 |
|
203 |
return 0;
|
|
157 |
/* ****** END HERE ******* */
|
|
204 | 158 |
|
159 |
while(1); |
|
160 |
|
|
161 |
return 0; |
|
162 |
|
|
205 | 163 |
} |
206 | 164 |
|
Also available in: Unified diff