Colony

//Obstacle Avoid Numbers

#ifndef _ORBIT_FSM_H_

#define _ORBIT_FSM_H_

//The States:

#define SEEK 12           //Move straight towards robot

#define TO_ORBIT 13       //Rotate into orbit

#define ORBIT 15          //Orbit robot

#define STOP 16           //Stop.  The default state, (Something broke).

#define STRAIGHT_SPEED 160

#define ORBIT_DIRECTION 4     // if 4, then orbit to the right; if -4, then orbit to the left

#define ORBIT_DISTANCE 250 // orbit distance as measured by rangefinders

int state;    /*State machine variable.*/

int otherRobot; /* must be set prior to running FSM */

int pControl;                /*Proportional control variable, determines turn direction.*/

int d1,d2,d3,d4,d5;        /*The five distances taken in by IR.*/

int bom; /* bom data */

void orbit_init(int robot);

void orbit_fsm(void);

void evaluate_state(void);

#endif