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root / trunk / code / projects / hunter_prey / main.c @ 1373

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#include <dragonfly_lib.h>
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#include <wireless.h>
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#define CHAN 0xF
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#define TAG_TIME 3000
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#define TAG_RANGE 150
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int main(void) {
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  int frontRange;
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  uint8_t angle;
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  uint8_t i;
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  uint8_t isPrey = 0;
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  int onTarget = 0;
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  uint8_t color;
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  //intialize the robot and wireless
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  dragonfly_init(ALL_ON);
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  wl_init();
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  bom_init(BOM15);
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  //use a specific channel to avoid interfering with other tasks
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  wl_set_channel(CHAN);
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  orb_set_color(BLUE);
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  color = BLUE;
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  while(1) {
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    bom_refresh(BOM_ALL);
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    frontRange = range_read_distance (IR2);
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    usb_puti(frontRange);
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    usb_putc('\n');
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    //BUG: when get_max_bom is called, the rangefinder seems to stop
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    //working
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    angle = get_max_bom();
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    angle = 4;
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    if(angle == 4 && frontRange > 0 && frontRange < TAG_RANGE) {
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      if(onTarget == 0) {
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        onTarget = TAG_TIME;
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        if(color != GREEN) {
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          color = GREEN;
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          orb_set_color(GREEN);
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        }
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        usb_puts("On target!\n");
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      }
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      else {
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        if(--onTarget <= 0) {
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          orb_set_color(RED);
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          color = RED;
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          usb_puts("TAG!\n");
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          while(1);
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        }
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      }
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    }
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    else{
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      if(color != BLUE) {
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        color = BLUE;
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        orb_set_color(BLUE);
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      }
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      //don't reset onTarget because the robot got too close
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      if(frontRange > 0)
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        onTarget = 0;
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    }
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    wl_do();
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  }
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  return 0;
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}