root / branches / simulator / projects / template / smart_run_around_fsm.h @ 1094
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1 | 1094 | chihsiuh | //Obstacle Avoid Numbers
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4 | #ifndef _RUN_AROUND_FSM_H_
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5 | #define _RUN_AROUND_FSM_H_
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6 | |||
7 | //The States:
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8 | #define MOVING 12 //Move strait. |
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9 | #define BACKWARDS 15 //Move backwards. (Front close to wall.) |
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10 | #define STOP 16 //Stop. The default state, (Something broke). |
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11 | #define CRAZY 40 //Erratic behavior that occurs more often when the robot is frequently trying to turn. (i.e. may be stuck.) |
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13 | #define LEFT 37 //Left |
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14 | #define RIGHT 39 //Right |
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16 | #define BACKUP_MAX 60 |
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17 | #define CRAZY_MAX 200 //The number of counts between "crazy moments" |
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18 | #define STRAIT_SPEED 185 //The speed when going strait or backing up. |
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19 | #define TURN_CONSTANT 2 |
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20 | #define PCONTROL_CRAZY_LIMIT 80 |
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21 | |||
22 | int avoid_state;
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23 | int prev_state; /*State machine variable.*/ |
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24 | int crazy_count; /*Counter for a 'get unstuck' behavior.*/ |
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26 | int backup_count; /*Counter for backup duration.*/ |
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27 | int pControl; /*Proportional control variable, determines turn direction.*/ |
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28 | int d1,d2,d3,d4,d5; /*The five distances taken in by IR.*/ |
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30 | void run_around_init(void); |
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31 | void run_around_FSM(void); |
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32 | void evaluate_state(void); |
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34 | #endif |