Revision 1930
Used template file instead of cicles file to start cal_sta_robot.c. Removed .h file. Figured out baud rates for arduino and robot. Python script can read from both sources.
cal_sta_robot.c | ||
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/* |
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* template.c - A starting point for developing behaviors using the Colony |
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* robots. To create a new behavior, you should copy this "template" |
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* folder to another folder and rename the "template.c" file |
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* appropriately. |
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* |
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* This template will have the robot drive in circles and flash the orbs. |
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* |
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* Author: John Sexton, Colony Project, CMU Robotics Club |
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*/ |
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/*** PROGRAM INFORMATION *** |
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This program assembles a group of robots into a circle and allows the |
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movement within that formation. Robots should be able to break formation and |
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travel as a line, readjust in the face of obstacles, and reform if conditions |
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are necessary. |
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The program begins waiting for a button press. When pressed, a robot assumes |
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the BEACON position, which means that it is the robot in the center of the |
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circle and therefore in charge. It then gathers robots around it by sending |
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them commands. This code is executed using two finite state machines, nested |
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inside one another. |
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One controls the overall state of the robot (whether it is a BEACON, an EDGE, |
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or WAITING, for example). |
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This code should be implemented so that most useful functions are built in |
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to the machine. For example, the BEACON robot should be able to call methods |
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such as CircleUp() to gather robots around it, and Move(distance) to move the |
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circle group all at once. |
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This Code is the property of the Carnegie Mellon Robotics Club and is being |
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used to test formation control in a low-cost robot colony. Thanks to all |
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members of RoboClub, especially Colony president John Sexton and graduade |
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student representative Chris Mar. |
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AUTHORS: James Carroll, Steve DeVincentis, Hanzhang (Echo) Hu, Nico Paris, |
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Joel Rey, Reva Street, Alex Zirbel |
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*/ |
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include <encoders.h> |
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#include "cal_sta_robot.h" |
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/*** TODO: *** |
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/* Time delay which determines how long the robot circles before it |
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* changes direction. */ |
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#define TIME_DELAY 1000 |
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-Transform the code into a method-based state machine that uses the |
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procedural state machines, which are hardcoded and hard to edit, as a backup. |
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int main (void) { |
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-Implement a drive straight method for use in keeping the robots more |
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accurate as a group. |
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-Fix the approach method: good robots usually work well, but bad robots often |
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have errors which might be avoidable with the use of error checking. |
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-Make robots more robust: packages are often lost, which throws the entire |
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procedural nature of the program off. |
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-Consider using the center bot to check distances |
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-More testing is always good and necessary. |
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*/ |
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/*** BOT LOG *** |
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4-1-2010: BOT 7 as BEACON and BOT 1 as EDGE worked extremely well. |
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4-2-2010: BOT 7 and BOT 14 worked extremely well, no matter states. BOT 1 |
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started well, but malfunctioned later. |
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*/ |
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/*** TERMINOLOGY *** |
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WAITINGSTATE: |
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The robot waits to be given a signal to do something. Wireless is on, |
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in case the robot is called on to turn into an EDGE. The color should be LIME |
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or YELLOW-GREEN. |
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BEACON_CONTROL: |
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The code that executes commands when a robot is turned to BEACON mode. This |
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code may run predefined methods for simplicity. One goal is to make these |
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methods change the robot turn to to BEACON_MACHINE mode for a while, and then |
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return to the CONTROL code where they left off. |
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EDGE_CONTROL: |
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Like BEACON_CONTROL, executes whatever orders are required of the robot as an |
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EDGE. |
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BEACON_MACHINE: |
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A hardcoded list of functions which the robot is capable of running through. |
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Consists of a finite state machine, where the robot executes a set of commands |
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in a procedural manner and then returns to wherever it was in the control code. |
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EDGE_MACHINE: |
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Like the BEACON_MACHINE, but contains the same sort of procedural information |
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for EDGE robots. |
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END: |
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A terminal state of the machine, where the robot just sits and waits. The |
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color should be GREEN and WHITE. |
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TYPES OF WIRELESS PACKETS: |
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CIRCLE_ACTION_EXIST 'E' |
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CIRCLE_ACTION_POSITION 'P' |
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CIRCLE_ACTION_ACK 'A' |
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A general acknowledgement package. |
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CIRCLE_ACTION_DONE 'D' |
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Used by robots to tell when they have finished their action. |
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CIRCLE_ACTION_GOTYOU 'G' |
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Used by the BEACON to tell a robot when it has been checked off. |
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At this point, the EDGE has been recognized. Used for times when |
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all EDGE robots have to communicate to the center via the spam method. |
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CIRCLE_ACTION_FORWARD 'F' |
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The BEACON tells the rest of the robots to move forward. |
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CIRCLE_CLAIM_CENTER 'C' |
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Sent out by a robot when it takes over as BEACON. |
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*/ |
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/* Define some variables to keep track of the state machine.*/ |
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int END = 100; |
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int WAITINGSTATE = 0; |
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int EDGE_CONTROL = 1; |
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int BEACON_CONTROL = 2; |
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int EDGE_MACHINE = 3; |
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int BEACON_MACHINE = 4; |
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int COUNT = 0; |
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int CIRCLEUP = 1; |
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int ORIENT = 2; |
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int DRIVE = 3; |
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int TURNL = 4; |
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int TURNR = 5; |
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int currentPos = 0; |
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int state = 0; |
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// keep track of the speed and duration of group movements. |
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int speed = 20; |
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int duration = 2; |
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int timeout = 0; |
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int sending = 0; |
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int stop2 = 0; |
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struct vector slave_position; |
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int desired_max_bom; |
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int bom_max_counter; |
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void switch_sending(void) |
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{ |
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if(sending) |
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{ |
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sending = 0; |
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bom_off(); |
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} |
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else |
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{ |
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sending = 1; |
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bom_on(); |
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} |
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} |
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// set the motors to this forward speed. |
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void forward(int speed) |
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{ |
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motor_l_set(FORWARD,speed); |
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motor_r_set(FORWARD,speed); |
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} |
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// turn left at this speed. |
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void left(int speed) |
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{ |
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motor_l_set(BACKWARD,speed); |
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motor_r_set(FORWARD,speed); |
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} |
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void right(int speed) |
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{ |
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motor_l_set(FORWARD,speed); |
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motor_r_set(BACKWARD,speed); |
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} |
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// stop() is better than motors_off(), which creates a slight delay when |
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// reactivating the motors. Stop() is faster. |
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void stop(void) |
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{ |
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motor_l_set(BACKWARD,0); |
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motor_r_set(FORWARD,0); |
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} |
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void setforward(int spd1, int spd2) |
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{ |
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motor_l_set(FORWARD,spd1); |
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motor_r_set(FORWARD,spd2); |
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} |
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void backward(int speed) |
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{ |
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motor_l_set(BACKWARD, speed); |
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motor_r_set(BACKWARD, speed); |
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} |
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// takes an averaged reading of the front rangefinder |
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int get_distance(void) |
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{ |
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// kk sets this to 5 readings. |
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int temp,distance,kk=5; |
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distance =0; |
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for (int i=0; i<kk; i++) |
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{ |
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temp = range_read_distance(IR2); |
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if (temp == -1) |
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{ |
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//temp=0; |
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i--; |
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} |
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else |
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distance+= temp; |
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delay_ms(3); |
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} |
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if (kk>0) |
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return (int)(distance/kk); |
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else |
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return 0; |
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} |
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/* Sends a global packet with two arguments */ |
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void send2(char arg0, char arg1) |
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{ |
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char send_buffer[2]; |
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send_buffer[0]=arg0; |
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send_buffer[1]=arg1; |
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wl_basic_send_global_packet(42,send_buffer,2); |
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} |
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/* Sends a global packet with three arguments */ |
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void send3(char arg0, char arg1, char arg2) |
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{ |
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char send_buffer[3]; |
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send_buffer[0]=arg0; |
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send_buffer[1]=arg1; |
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send_buffer[2]=arg2; |
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wl_basic_send_global_packet(42,send_buffer,3); |
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} |
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/* |
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Orients the robot so that it is facing the beacon (or the broadcasting BOM). |
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*/ |
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void faceFront(void) |
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{ |
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int counter = 0; |
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int currentDir = 0; |
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left(200); |
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int bomNum = -1; |
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orb1_set_color(BLUE); |
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while(bomNum != 4) |
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{ |
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if(counter >= 5) |
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{ |
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forward(200); |
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delay_ms(750); |
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counter = 0; |
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} |
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bom_refresh(BOM_ALL); |
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bomNum = bom_get_max(); |
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if(bomNum == -1) |
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{ |
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//ignore |
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} |
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else if((bomNum < 4) || (bomNum >= 12)) |
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{ |
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right(200); |
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if(currentDir == 0) |
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counter++; |
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currentDir = 1; |
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} |
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else |
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{ |
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left(200); |
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if(currentDir == 1) |
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counter++; |
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currentDir = 0; |
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} |
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} |
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stop(); |
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return; |
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} |
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/* |
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Turns the robot slowly to the right until it reaches the BOM reading goal. |
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More stable code than what was implemented ealier, with smart turning, |
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but slower. |
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*/ |
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void aboutFace(int goal) |
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{ |
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int bomNum = -1; |
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int speed = 170; // speed with which to turn |
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orb1_set_color(BLUE); // BLUE and PURPLE |
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/* Initialize the dragonfly boards, the xbee, and the encoders */ |
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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while(bomNum != goal) |
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{ |
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// bomNum is the current maximum reading |
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bom_refresh(BOM_ALL); |
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bomNum = bom_get_max(); |
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right(speed); |
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} |
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stop(); |
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return; |
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} |
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while (1) { |
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/* Drive left, set orbs, and wait */ |
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orbs_set_color(RED, GREEN); |
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usb_puts("Robot\n"); |
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delay_ms(TIME_DELAY); |
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/* |
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BLINK the given number times |
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*/ |
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void blink(int num) |
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{ |
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for(int i = 0; i<num; i++) |
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{ |
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orb_set_color(ORB_OFF); |
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delay_ms(150); |
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orb_set_color(RED); |
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delay_ms(50); |
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/* Drive right, change orb colors, and wait */ |
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orbs_set_color(PURPLE, BLUE); |
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usb_puts("Marvin\n"); |
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delay_ms(TIME_DELAY); |
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} |
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orb_set_color(ORB_OFF); |
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} |
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/* |
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BLINK slowly the given number times |
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*/ |
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void slowblink(int num) |
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{ |
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for(int i = 0; i<num; i++) |
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{ |
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orb_set_color(ORB_OFF); |
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delay_ms(300); |
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orb_set_color(RED); |
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delay_ms(200); |
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} |
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orb_set_color(ORB_OFF); |
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} |
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/* |
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A method for the higher-level code for the BEACON. The beacon can make |
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any of the preprogrammed commands, and this code sends the packet and |
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transitions the robots correctly. |
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*/ |
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void order(int action) |
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{ |
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currentPos++; |
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send2(CIRCLE_EXECUTE, action); |
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state = 20 + action; |
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} |
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/* |
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A method for the higher-level code for the BEACON. The beacond sends |
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not only the command, but also the speed and duration for which the |
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(movement) command is to be executed. |
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*/ |
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void orderMove(int action, int newSpeed, int newDuration) |
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{ |
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currentPos++; |
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speed = newSpeed; |
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duration = newDuration; |
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send2(CIRCLE_EXECUTE, action); |
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state = 20 + action; |
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} |
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/* |
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Turns off the motors, sends an EXECUTE packet, and blinks green and white |
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forever. |
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*/ |
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void terminate(void) |
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{ |
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motors_off(); |
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send2(CIRCLE_EXECUTE, 100); |
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orb_set_color(GREEN); |
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orb2_set_color(WHITE); |
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while(1) ; |
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} |
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//****************************************************************************** |
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//****************************************************************************** |
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//****************************************************************************** |
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/* |
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A state machine with five states. The robot starts out in WAITINGSTATE mode, |
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from which it recieves a signal of some sort and moves to a different state. |
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*/ |
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int main(void) |
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{ |
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/* Initialize dragonfly board */ |
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dragonfly_init(ALL_ON); |
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/* Initialize the basic wireless library */ |
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wl_basic_init_default(); |
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/* Set the XBee channel to 24 - must be standard among robots */ |
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wl_set_channel(24); |
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int robotid = get_robotid(); |
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// once the EDGE gets the first signal from a center, it stores who the // center is. |
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int centerid = 0; |
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// stores a list of bots which are in the group by storing a "1" in the |
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// array if the robot of that index is in the group. |
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int used[17]; |
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int numOk; |
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// initially, no robots in the group. |
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for (int i=0; i<17; i++) |
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used[i] = 0; |
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// keeps track of the length of wireless packets received. |
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int data_length; |
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unsigned char *packet_data=wl_basic_do_default(&data_length); |
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// these variables keep track of the inner state machines in the |
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// procedural MACHINE states. |
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int beacon_State=0; |
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int edge_State=0; |
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int waitingCounter=0; |
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// an important variable that stores the size of the group. |
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int robotsReceived=0; |
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// offset for the approaching: how far off the rangefinders can be |
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int offset = 20; |
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int time=0; |
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// keeps track of which way robots are facing relative to the center |
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int direction = 4; |
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// how far away the robot is. Initialized to a large value to ensure |
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// that the robot doesn't think it is already the right distance away. |
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int distance=1000; |
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int onefoot = 250; // how far away to stop. |
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while(1) |
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{ |
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bom_refresh(BOM_ALL); |
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/***EXPECTED MOVES*** |
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(OUT OF DATE. Will be updated once changes have been made.) |
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The designed movement: |
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1. one center robot, several edge robots are on; |
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2. center robots: button 1 is pressed; |
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3. center robots: send global package telling edges that he exists; |
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4. EDGE robots response with ACK. |
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5. EDGE robots wait for center robots to finish counting (DONE package) |
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6. EDGE robtos approach the center robtot and stop at the "onefoot" |
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distance, send message to the center |
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*/ |
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|
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|
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/* |
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This is the MAIN SWITCH LOOP, which governs the overall |
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status of the robot. |
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*/ |
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switch(state) |
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{ |
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|
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|
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/* |
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The WAITINGSTATE. This state constantly checks for wireless |
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packets, |
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and updates its state as soon as it receives a signal. |
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*/ |
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case 0: |
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orb_set_color(YELLOW); |
|
463 |
packet_data=wl_basic_do_default(&data_length); |
|
464 |
if(packet_data != 0 && data_length>=2 |
|
465 |
&& packet_data[0]==CIRCLE_CLAIM_CENTER) |
|
466 |
{ |
|
467 |
centerid = packet_data[1]; |
|
468 |
state = 1; |
|
469 |
} |
|
470 |
|
|
471 |
if(button1_read()) |
|
472 |
{ |
|
473 |
// becomes the center if button1 is clicked. |
|
474 |
send2(CIRCLE_CLAIM_CENTER, robotid); |
|
475 |
state = 2; |
|
476 |
} |
|
477 |
break; |
|
478 |
|
|
479 |
|
|
480 |
|
|
481 |
//****************************************************************************** |
|
482 |
//****************************************************************************** |
|
483 |
|
|
484 |
|
|
485 |
/* |
|
486 |
The CONTROL for the EDGE state. This sets a certain procedure |
|
487 |
to follow, in the form of simple |
|
488 |
commands, for a robot to follow if it is set to an EDGE. |
|
489 |
*/ |
|
490 |
|
|
491 |
case 1: |
|
492 |
orb_set_color(CYAN); |
|
493 |
orb1_set_color(YELLOW); |
|
494 |
|
|
495 |
int command = -1; |
|
496 |
|
|
497 |
packet_data=wl_basic_do_default(&data_length); |
|
498 |
|
|
499 |
if(packet_data != 0 && data_length>=2 && |
|
500 |
packet_data[0]==CIRCLE_EXECUTE) |
|
501 |
{ |
|
502 |
command = packet_data[1]; |
|
503 |
} |
|
504 |
|
|
505 |
if(command != -1) |
|
506 |
{ |
|
507 |
edge_State = 0; |
|
508 |
switch(command) |
|
509 |
{ |
|
510 |
case 0: |
|
511 |
state = 10; break; |
|
512 |
|
|
513 |
case 1: |
|
514 |
state = 11; break; |
|
515 |
|
|
516 |
case 2: |
|
517 |
state = 12; break; |
|
518 |
|
|
519 |
case 3: |
|
520 |
state = 13; break; |
|
521 |
|
|
522 |
case 4: |
|
523 |
state = 14; break; |
|
524 |
|
|
525 |
case 5: |
|
526 |
state = 15; break; |
|
527 |
|
|
528 |
case 100: |
|
529 |
terminate(); break; |
|
530 |
} |
|
531 |
} |
|
532 |
|
|
533 |
break; |
|
534 |
|
|
535 |
|
|
536 |
|
|
537 |
//****************************************************************************** |
|
538 |
//****************************************************************************** |
|
539 |
|
|
540 |
|
|
541 |
/* |
|
542 |
The CONTROL for the BEACON state. This sets a certain procedure |
|
543 |
to follow, in the form of simple commands, for a robot to follow |
|
544 |
if it is set to a BEACON. |
|
545 |
*/ |
|
546 |
case 2: |
|
547 |
orb_set_color(PURPLE); |
|
548 |
beacon_State = 0; |
|
549 |
|
|
550 |
switch(currentPos) |
|
551 |
{ |
|
552 |
case 0: |
|
553 |
order(COUNT); break; |
|
554 |
|
|
555 |
case 1: |
|
556 |
order(CIRCLEUP); break; |
|
557 |
|
|
558 |
case 2: |
|
559 |
order(ORIENT); break; |
|
560 |
|
|
561 |
case 3: |
|
562 |
orderMove(DRIVE,20,2); break; |
|
563 |
|
|
564 |
case 4: |
|
565 |
order(CIRCLEUP); break; |
|
566 |
|
|
567 |
case 5: |
|
568 |
order(ORIENT); break; |
|
569 |
|
|
570 |
case 6: |
|
571 |
orderMove(TURNR,18,1); break; |
|
572 |
|
|
573 |
case 7: |
|
574 |
orderMove(DRIVE,20,2); break; |
|
575 |
|
|
576 |
case 8: |
|
577 |
order(CIRCLEUP); break; |
|
578 |
|
|
579 |
case 9: |
|
580 |
order(ORIENT); break; |
|
581 |
|
|
582 |
case 10: |
|
583 |
terminate(); break; |
|
584 |
|
|
585 |
} |
|
586 |
|
|
587 |
break; |
|
588 |
|
|
589 |
|
|
590 |
//****************************************************************************** |
|
591 |
//****************************************************************************** |
|
592 |
|
|
593 |
|
|
594 |
/* The following states are MACHINE states for the EDGE robot. */ |
|
595 |
|
|
596 |
/* |
|
597 |
EDGE on COUNT |
|
598 |
*/ |
|
599 |
case 10: |
|
600 |
|
|
601 |
switch(edge_State) |
|
602 |
{ |
|
603 |
/* |
|
604 |
0. EDGE robots are on. |
|
605 |
1. They are waiting for EXIST pacakage from the |
|
606 |
Center robots |
|
607 |
2. After they receive the package, they send ACK |
|
608 |
package to center. |
|
609 |
3. Done for now: display green. |
|
610 |
*/ |
|
611 |
case 0: |
|
612 |
bom_off(); |
|
613 |
orb1_set_color(YELLOW); |
|
614 |
orb2_set_color(BLUE); |
|
615 |
packet_data=wl_basic_do_default(&data_length); |
|
616 |
|
|
617 |
if(packet_data != 0 && data_length>=2 && |
|
618 |
packet_data[0]==CIRCLE_ACTION_EXIST) |
|
619 |
{ |
|
620 |
centerid = packet_data[1]; |
|
621 |
|
|
622 |
send2(CIRCLE_ACTION_ACK,robotid); |
|
623 |
|
|
624 |
edge_State=1; |
|
625 |
} |
|
626 |
break; |
|
627 |
|
|
628 |
/* |
|
629 |
1. Wait for DONE package |
|
630 |
2. The counting process is DONE |
|
631 |
*/ |
|
632 |
case 1: |
|
633 |
|
|
634 |
orb_set_color(YELLOW); |
|
635 |
orb2_set_color(PURPLE); |
|
636 |
|
|
637 |
// keep sending the packet until we get a |
|
638 |
// response |
|
639 |
send2(CIRCLE_ACTION_ACK,robotid); |
|
640 |
|
|
641 |
packet_data=wl_basic_do_default(&data_length); |
|
642 |
if(packet_data != 0 && data_length>=2 && |
|
643 |
packet_data[0]==CIRCLE_ACTION_GOTYOU && |
|
644 |
packet_data[1] == robotid) |
|
645 |
{ |
|
646 |
edge_State=2; |
|
647 |
} |
|
648 |
break; |
|
649 |
|
|
650 |
// wait for the second, general, done packet. |
|
651 |
case 2: |
|
652 |
|
|
653 |
orb_set_color(YELLOW); |
|
654 |
packet_data=wl_basic_do_default(&data_length); |
|
655 |
if(packet_data != 0 && data_length>=2 && |
|
656 |
packet_data[0]==CIRCLE_ACTION_DONE && |
|
657 |
packet_data[1] == centerid) |
|
658 |
{ |
|
659 |
state = 1; |
|
660 |
} |
|
661 |
break; |
|
662 |
} |
|
663 |
|
|
664 |
break; |
|
665 |
|
|
666 |
/* The CIRCLEUP command for EDGE */ |
|
667 |
|
|
668 |
case 11: |
|
669 |
|
|
670 |
switch(edge_State) |
|
671 |
{ |
|
672 |
|
|
673 |
case 0: |
|
674 |
// COLOR afer DONE ---> MAGENTA |
|
675 |
orb_set_color(MAGENTA); |
|
676 |
// turn to face the beacon |
|
677 |
faceFront(); |
|
678 |
forward(175); |
|
679 |
//range_init(); |
|
680 |
|
|
681 |
|
|
682 |
distance = get_distance(); |
|
683 |
time=0; |
|
684 |
while ((distance-offset)>=onefoot || |
|
685 |
distance==0 || (distance+offset)<onefoot) |
|
686 |
{ |
|
687 |
if(distance==0) |
|
688 |
orb_set_color(WHITE); |
|
689 |
else if(distance-offset>=onefoot) |
|
690 |
forward(175); |
|
691 |
else |
|
692 |
backward(175); |
|
693 |
distance = get_distance(); |
|
694 |
delay_ms(14); |
|
695 |
time+=14; |
|
696 |
if(time>30) |
|
697 |
{ |
|
698 |
faceFront(); |
|
699 |
time=0; |
|
700 |
} |
|
701 |
} |
|
702 |
|
|
703 |
stop(); |
|
704 |
orb_set_color(GREEN); |
|
705 |
|
|
706 |
send2(CIRCLE_ACTION_ACK, robotid); |
|
707 |
|
|
708 |
stop(); |
|
709 |
state = 1; |
|
710 |
break; |
|
711 |
} |
|
712 |
|
|
713 |
|
|
714 |
break; |
|
715 |
|
|
716 |
/* An ORIENT series of steps for the EDGE robot. */ |
|
717 |
|
|
718 |
case 12: |
|
719 |
|
|
720 |
switch(edge_State) |
|
721 |
{ |
|
722 |
|
|
723 |
// waits for a packet to tell it to turn on the bom. |
|
724 |
case 0: |
|
725 |
packet_data=wl_basic_do_default(&data_length); |
|
726 |
if(packet_data != 0 && data_length==2 && |
|
727 |
packet_data[0]==CIRCLE_ACTION_GOTYOU && |
|
728 |
packet_data[1] == robotid) |
|
729 |
{ |
|
730 |
bom_on(); |
|
731 |
orb_set_color(ORANGE); |
|
732 |
send2(CIRCLE_ACTION_ACK,centerid); |
|
733 |
edge_State = 1; |
|
734 |
} |
|
735 |
break; |
|
736 |
|
|
737 |
// waits for a packet to tell it that it has been |
|
738 |
// received. |
|
739 |
case 1: |
|
740 |
orb2_set_color(YELLOW); |
|
741 |
packet_data=wl_basic_do_default(&data_length); |
|
742 |
if(packet_data != 0 && data_length==3 && |
|
743 |
packet_data[0]==CIRCLE_ACTION_GOTYOU && |
|
744 |
packet_data[1] == robotid) |
|
745 |
{ |
|
746 |
bom_off(); |
|
747 |
direction = packet_data[2]; |
|
748 |
orb_set_color(YELLOW); |
|
749 |
edge_State = 2; |
|
750 |
} |
|
751 |
break; |
|
752 |
|
|
753 |
/* |
|
754 |
Wait for the center bot to send a DONE packet; then |
|
755 |
turn to face the right direction. |
|
756 |
*/ |
|
757 |
case 2: |
|
758 |
orb_set_color(GREEN); |
|
759 |
packet_data=wl_basic_do_default(&data_length); |
|
760 |
if(packet_data != 0 && data_length>=2 && |
|
761 |
packet_data[0]==CIRCLE_ACTION_DONE) |
|
762 |
{ |
|
763 |
orb_set_color(WHITE); |
|
764 |
orb2_set_color(CYAN); |
|
765 |
edge_State = 3; |
|
766 |
} |
|
767 |
break; |
|
768 |
|
|
769 |
/* Turn until we reach the right direction */ |
|
770 |
case 3: |
|
771 |
aboutFace(direction); |
|
772 |
stop(); |
|
773 |
orb_set_color(YELLOW); |
|
774 |
send2(CIRCLE_ACTION_DONE,robotid); |
|
775 |
state = 1; |
|
776 |
break; |
|
777 |
|
|
778 |
} |
|
779 |
|
|
780 |
break; |
|
781 |
|
|
782 |
|
|
783 |
/* The DRIVE steps for the EDGE robot */ |
|
784 |
case 13: |
|
785 |
|
|
786 |
/* Wait for specifications to drive */ |
|
787 |
packet_data=wl_basic_do_default(&data_length); |
|
788 |
if(packet_data != 0 && data_length>=3 && |
|
789 |
packet_data[0]==CIRCLE_ACTION_FORWARD) |
|
790 |
{ |
|
791 |
orb_set_color(BLUE); |
|
792 |
|
|
793 |
forward(packet_data[1]*10); |
|
794 |
delay_ms(packet_data[2]*1000); |
|
795 |
stop(); |
|
796 |
state = 1; |
|
797 |
} |
|
798 |
|
|
799 |
break; |
|
800 |
|
|
801 |
/* The TURNL steps for the EDGE robot */ |
|
802 |
case 14: |
|
803 |
|
|
804 |
/* Wait for specifications for the turn. */ |
|
805 |
packet_data=wl_basic_do_default(&data_length); |
|
806 |
if(packet_data != 0 && data_length>=3 && |
|
807 |
packet_data[0]==CIRCLE_ACTION_TURN) |
|
808 |
{ |
|
809 |
orb_set_color(BLUE); |
|
810 |
|
|
811 |
left(packet_data[1]*10); |
|
812 |
delay_ms(packet_data[2]*1000); |
|
813 |
stop(); |
|
814 |
state = 1; |
|
815 |
} |
|
816 |
break; |
|
817 |
|
|
818 |
/* The TURNR steps for the EDGE robot */ |
|
819 |
case 15: |
|
820 |
|
|
821 |
/* Wait for specifications for the turn. */ |
|
822 |
packet_data=wl_basic_do_default(&data_length); |
|
823 |
if(packet_data != 0 && data_length>=3 && |
|
824 |
packet_data[0]==CIRCLE_ACTION_TURN) |
|
825 |
{ |
|
826 |
orb_set_color(BLUE); |
|
827 |
|
|
828 |
right(packet_data[1]*10); |
|
829 |
delay_ms(packet_data[2]*1000); |
|
830 |
stop(); |
|
831 |
state = 1; |
|
832 |
} |
|
833 |
break; |
|
834 |
|
|
835 |
// END for EDGE robots |
|
836 |
|
|
837 |
|
|
838 |
|
|
839 |
//****************************************************************************** |
|
840 |
//****************************************************************************** |
|
841 |
|
|
842 |
|
|
843 |
/* |
|
844 |
The MACHINE for the BEACON state |
|
845 |
*/ |
|
846 |
|
|
847 |
/* the COUNT code for the BEACON */ |
|
848 |
case 20: |
|
849 |
switch(beacon_State) |
|
850 |
{ |
|
851 |
|
|
852 |
/* 0. center robots on wait for pressing button 1 */ |
|
853 |
case 0: |
|
854 |
bom_on(); |
|
855 |
orb_set_color(BLUE); |
|
856 |
robotsReceived = 0; |
|
857 |
beacon_State=1; |
|
858 |
break; |
|
859 |
|
|
860 |
/* 1. Send EXIST package to EDGE robots */ |
|
861 |
case 1: |
|
862 |
orb_set_color(RED); |
|
863 |
send2(CIRCLE_ACTION_EXIST,robotid); |
|
864 |
beacon_State=2; |
|
865 |
break; |
|
866 |
|
|
867 |
/* 2. Count the number of the EDGE robots |
|
868 |
*******NOTE: at most 1000 times of loop ****** */ |
|
869 |
case 2: |
|
870 |
waitingCounter++; |
|
871 |
orb1_set_color(YELLOW); |
|
872 |
orb2_set_color(BLUE); |
|
873 |
packet_data=wl_basic_do_default(&data_length); |
|
874 |
|
|
875 |
if(packet_data!=0 && data_length>=2 && |
|
876 |
packet_data[0]==CIRCLE_ACTION_ACK) |
|
877 |
{ |
|
878 |
orb_set_color(RED); |
|
879 |
orb2_set_color(BLUE); |
|
880 |
// only add to list seen if you haven't |
|
881 |
// gotten an ACK from this robot |
|
882 |
if(used[packet_data[1]]==0) |
|
883 |
{ |
|
884 |
robotsReceived++; |
|
885 |
used[packet_data[1]] = 1; |
|
886 |
|
|
887 |
usb_puts("Added: "); |
|
888 |
usb_puti(packet_data[1]); |
|
889 |
usb_puts("\r\n"); |
|
890 |
} |
|
891 |
|
|
892 |
// NEW: sends a packet to each robot it |
|
893 |
// receives telling them to be done. |
|
894 |
send2(CIRCLE_ACTION_GOTYOU, |
|
895 |
packet_data[1]); |
|
896 |
} |
|
897 |
if(waitingCounter >= 300) |
|
898 |
{ |
|
899 |
beacon_State=3; |
|
900 |
} |
|
901 |
break; |
|
902 |
|
|
903 |
/* COUNTing is DONE. Sending DONE package. */ |
|
904 |
case 3: |
|
905 |
blink(robotsReceived); |
|
906 |
orb_set_color(GREEN); |
|
907 |
send2(CIRCLE_ACTION_DONE, robotid); |
|
908 |
state = 2; |
|
909 |
break; |
|
910 |
} |
|
911 |
|
|
912 |
break; |
|
913 |
|
|
914 |
/* The CIRCLEUP method for BEACON */ |
|
915 |
case 21: |
|
916 |
|
|
917 |
switch(beacon_State) |
|
918 |
{ |
|
919 |
|
|
920 |
/* Wait for all the robots to get to right distance */ |
|
921 |
case 0: |
|
922 |
// left(170); |
|
923 |
orb1_set_color(YELLOW); |
|
924 |
orb2_set_color(WHITE); |
|
925 |
|
|
926 |
numOk = 0; |
|
927 |
|
|
928 |
while(numOk<robotsReceived) |
|
929 |
{ |
|
930 |
packet_data= |
|
931 |
wl_basic_do_default(&data_length); |
|
932 |
if(packet_data!=0 && data_length>=2 && |
|
933 |
packet_data[0]==CIRCLE_ACTION_ACK) |
|
934 |
{ |
|
935 |
numOk++; |
|
936 |
} |
|
937 |
} |
|
938 |
|
|
939 |
state = 2; |
|
940 |
break; |
|
941 |
} |
|
942 |
|
|
943 |
break; |
|
944 |
|
|
945 |
|
|
946 |
/* The ORIENT code for the beacon */ |
|
947 |
case 22: |
|
948 |
|
|
949 |
switch(beacon_State) |
|
950 |
{ |
|
951 |
/* Turns all the robots in the same direction */ |
|
952 |
case 0: |
|
953 |
stop(); |
|
954 |
bom_off(); |
|
955 |
orb_set_color(ORANGE); |
|
956 |
|
|
957 |
// for each robot, tells them to turn their bom |
|
958 |
// on, then tells them which way to face. |
|
959 |
for(int i=0; i < 17; i++) |
|
960 |
{ |
|
961 |
if(used[i] == 1) |
|
962 |
{ |
|
963 |
send2(CIRCLE_ACTION_GOTYOU, i); |
|
964 |
// waits for a response so it knows the |
|
965 |
// BOM is on. |
|
966 |
while(1) |
|
967 |
{ |
|
968 |
orb_set_color(RED); |
|
969 |
orb2_set_color(WHITE); |
|
970 |
packet_data=wl_basic_do_default( |
|
971 |
&data_length); |
|
972 |
if(packet_data!=0 && data_length>=2 |
|
973 |
&& packet_data[0]== |
|
974 |
CIRCLE_ACTION_ACK) |
|
975 |
{ |
|
976 |
orb_set_color(ORANGE); |
|
977 |
break; |
|
978 |
} |
|
979 |
} |
|
980 |
delay_ms(20); |
|
981 |
bom_refresh(BOM_ALL); |
|
982 |
direction = bom_get_max(); |
|
983 |
|
|
984 |
direction += 8; |
|
985 |
if(direction > 15) direction -= 16; |
|
986 |
|
|
987 |
delay_ms(20); |
|
988 |
|
|
989 |
send3(CIRCLE_ACTION_GOTYOU, i, |
|
990 |
direction); |
|
991 |
|
|
992 |
delay_ms(20); |
|
993 |
} |
|
994 |
} |
|
995 |
beacon_State = 1; |
|
996 |
break; |
|
997 |
|
|
998 |
/* |
|
999 |
Sends a DONE packet to signify that it has read in all |
|
1000 |
the robots' directions and sent packets. |
|
1001 |
Edge robots should now turn to face the right direction. |
|
1002 |
*/ |
|
1003 |
case 1: |
|
1004 |
send2(CIRCLE_ACTION_DONE,robotid); |
|
1005 |
bom_on(); |
|
1006 |
beacon_State = 2; |
|
1007 |
break; |
|
1008 |
|
|
1009 |
case 2: |
|
1010 |
numOk = 0; |
|
1011 |
|
|
1012 |
while(numOk < robotsReceived) |
|
1013 |
{ |
|
1014 |
orb_set_color(ORANGE); |
|
1015 |
packet_data=wl_basic_do_default( |
|
1016 |
&data_length); |
|
1017 |
|
|
1018 |
if(packet_data!=0 && data_length>=2 && |
|
1019 |
packet_data[0]==CIRCLE_ACTION_DONE) |
|
1020 |
{ |
|
1021 |
numOk++; |
|
1022 |
} |
|
1023 |
} |
|
1024 |
state = 2; |
|
1025 |
break; |
|
1026 |
} |
|
1027 |
|
|
1028 |
break; |
|
1029 |
|
|
1030 |
|
|
1031 |
/* The DRIVE code for the beacon */ |
|
1032 |
case 23: |
|
1033 |
|
|
1034 |
orb_set_color(YELLOW); |
|
1035 |
delay_ms(100); |
|
1036 |
|
|
1037 |
// format: type of ack, speed divided by 10, |
|
1038 |
// time in seconds. |
|
1039 |
for(int i = 0 ; i < 13; i++) |
|
1040 |
send3(CIRCLE_ACTION_FORWARD,speed,duration); |
|
1041 |
orb_set_color(BLUE); |
|
1042 |
forward(speed*10); |
|
1043 |
delay_ms(duration*1000); |
|
1044 |
stop(); |
|
1045 |
state = 2; |
|
1046 |
break; |
|
1047 |
|
|
1048 |
/* The TURNL code for the beacon */ |
|
1049 |
case 24: |
|
1050 |
|
|
1051 |
orb_set_color(YELLOW); |
|
1052 |
delay_ms(100); |
|
1053 |
|
|
1054 |
// format: type of ack, speed divided by 10, |
|
1055 |
// time in seconds. |
|
1056 |
for(int i = 0 ; i < 13; i++) |
|
1057 |
send3(CIRCLE_ACTION_TURN,speed,duration); |
|
1058 |
orb_set_color(BLUE); |
|
1059 |
left(speed*10); |
|
1060 |
delay_ms(duration*1000); |
|
1061 |
stop(); |
|
1062 |
state = 2; |
|
1063 |
|
|
1064 |
break; |
|
1065 |
|
|
1066 |
/* The TURNR code for the beacon */ |
|
1067 |
case 25: |
|
1068 |
|
|
1069 |
orb_set_color(YELLOW); |
|
1070 |
delay_ms(100); |
|
1071 |
|
|
1072 |
// format: type of ack, speed divided by 10, |
|
1073 |
// time in seconds. |
|
1074 |
for(int i = 0 ; i < 13; i++) |
|
1075 |
send3(CIRCLE_ACTION_TURN,speed,duration); |
|
1076 |
orb_set_color(BLUE); |
|
1077 |
right(speed*10); |
|
1078 |
delay_ms(duration*1000); |
|
1079 |
stop(); |
|
1080 |
state = 2; |
|
1081 |
|
|
1082 |
break; |
|
1083 |
|
|
1084 |
|
|
1085 |
//****************************************************************************** |
|
1086 |
//****************************************************************************** |
|
1087 |
|
|
1088 |
} // ends the main switch |
|
1089 |
} // ends the main while loop |
|
1090 |
|
|
1091 |
// error, we should never break from the while loop! |
|
1092 |
orb_set_color(RED); |
|
1093 |
|
|
1094 |
/* |
|
1095 |
END HERE, just in case something happened. |
|
1096 |
This way we can see the red orb. |
|
1097 |
*/ |
|
1098 |
while(1); |
|
1099 |
} |
Also available in: Unified diff