root / branches / autonomous_recharging / code / projects / autonomous_recharging / dragonfly / smart_run_around_fsm.c @ 1390
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1 | 321 | bcoltin | #include "dragonfly_lib.h" |
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2 | #include "smart_run_around_fsm.h" |
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3 | 734 | cmar | #include <wireless.h> |
4 | 321 | bcoltin | |
5 | /*A simple behavior for navigating in an environment, i.e. avoiding walls and getting stuck.
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6 | Could be better at not getting stuck.
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7 | |||
8 | Latest revision only has two accessible states: move and reverse.
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9 | */
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10 | |||
11 | |||
12 | void run_around_init(void) |
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13 | { |
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14 | 697 | cmar | range_init(); |
15 | 321 | bcoltin | |
16 | /*Start in the default state, MOVING*/
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17 | avoid_state=MOVING; |
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18 | 734 | cmar | prev_state = avoid_state; |
19 | 321 | bcoltin | /*Set timers to their maximum values.*/
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20 | crazy_count=CRAZY_MAX; |
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21 | 695 | cmar | backup_count=BACKUP_MAX; |
22 | 321 | bcoltin | pControl=0;
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23 | |||
24 | /*Initialize distances to zero.*/
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25 | d1=0; d2=0; d3=0; d4=0; d5=0; |
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26 | |||
27 | 759 | cmar | orb_set_color(BLUE); |
28 | 321 | bcoltin | |
29 | } |
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30 | |||
31 | /*The main function, call this to update states as frequently as possible.*/
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32 | void run_around_FSM(void) { |
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33 | 734 | cmar | prev_state = avoid_state; |
34 | 697 | cmar | /*Default to moving.*/
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35 | 734 | cmar | //avoid_state=MOVING;
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36 | 321 | bcoltin | |
37 | /*The following lines ensure that undefined (-1) values
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38 | will not update the distances.*/
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39 | int temp;
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40 | |||
41 | temp=range_read_distance(IR1); |
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42 | 697 | cmar | d1=(temp == -1) ? d1 : temp;
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43 | 321 | bcoltin | |
44 | temp=range_read_distance(IR2); |
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45 | 697 | cmar | d2=(temp == -1) ? d2 : temp;
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46 | 321 | bcoltin | |
47 | temp=range_read_distance(IR3); |
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48 | 697 | cmar | d3=(temp == -1) ? d3 : temp;
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49 | 321 | bcoltin | |
50 | temp=range_read_distance(IR4); |
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51 | 697 | cmar | d4=(temp == -1) ? d4 : temp;
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52 | 321 | bcoltin | |
53 | temp=range_read_distance(IR5); |
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54 | 697 | cmar | d5=(temp == -1) ? d5 : temp;
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55 | 321 | bcoltin | |
56 | 697 | cmar | /*If the crazy count is in it's >>3 range, it acts crazy.*/
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57 | 321 | bcoltin | if(crazy_count<=(CRAZY_MAX>>3)) |
58 | { |
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59 | avoid_state=CRAZY; |
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60 | crazy_count--; |
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61 | |||
62 | if(crazy_count<0) crazy_count=CRAZY_MAX; |
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63 | |||
64 | evaluate_state(); |
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65 | return;
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66 | } |
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67 | |||
68 | //Checks the forward distance to see if it should back up, if so...state backwards.
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69 | 697 | cmar | if((d2!=-1)&&(d2 < 150)){ |
70 | 321 | bcoltin | backup_count=BACKUP_MAX; |
71 | avoid_state=BACKWARDS; |
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72 | evaluate_state(); |
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73 | return;
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74 | } |
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75 | 734 | cmar | |
76 | 321 | bcoltin | if(backup_count<BACKUP_MAX){
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77 | 734 | cmar | usb_puts("DO I EVER GET HERE?\n\r");
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78 | 697 | cmar | avoid_state=BACKWARDS; |
79 | 321 | bcoltin | if(backup_count<0) |
80 | backup_count=BACKUP_MAX; |
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81 | evaluate_state(); |
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82 | return;
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83 | } |
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84 | |||
85 | 734 | cmar | //usb_puts("avoid_state set to MOVING\n\r");
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86 | avoid_state = MOVING; |
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87 | |||
88 | 697 | cmar | /*Should evaluate an expression from -255 to 255 to pass to move.*/
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89 | 321 | bcoltin | pControl= ((d3-d1) + (d4-d5)) >> TURN_CONSTANT; |
90 | |||
91 | if(pControl>PCONTROL_CRAZY_LIMIT || pControl<-PCONTROL_CRAZY_LIMIT) crazy_count--;
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92 | 697 | cmar | /*i.e. if you really want to turn for an extended period of time...you're probably stuck.*/
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93 | 321 | bcoltin | |
94 | /*Debug stuff:*/
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95 | /*usb_puts("pControl evaluating: ");
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96 | usb_puti(pControl);
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97 | usb_puts("\n\r");
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98 | usb_puts("IR1: ");
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99 | usb_puti(d1);
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100 | usb_puts(" IR2: ");
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101 | usb_puti(d2);
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102 | usb_puts(" IR3: ");
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103 | usb_puti(d3);
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104 | usb_puts(" IR4: ");
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105 | usb_puti(d4);
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106 | usb_puts(" IR5: ");
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107 | usb_puti(d5);
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108 | usb_puts("\n\r");*/
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109 | |||
110 | evaluate_state(); |
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111 | } |
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112 | |||
113 | |||
114 | //Acts on state change.
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115 | void evaluate_state(){
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116 | switch(avoid_state){
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117 | 734 | cmar | case(MOVING): //orb_set_color(GREEN); |
118 | 759 | cmar | if(prev_state == BACKWARDS) {
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119 | delay_motors(); |
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120 | } |
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121 | 321 | bcoltin | move(STRAIT_SPEED,-pControl); |
122 | 734 | cmar | //motor1_set(FORWARD,200);
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123 | //motor2_set(FORWARD,200);
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124 | 321 | bcoltin | break;
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125 | |||
126 | 734 | cmar | case(BACKWARDS): //orb_set_color(RED); |
127 | 759 | cmar | if(prev_state == MOVING) {
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128 | delay_motors(); |
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129 | } |
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130 | 697 | cmar | move(-STRAIT_SPEED-50,0); |
131 | 734 | cmar | //motor1_set(BACKWARD,200);
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132 | //motor2_set(BACKWARD,200);
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133 | 321 | bcoltin | break;
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134 | |||
135 | 734 | cmar | case(CRAZY): //orb_set_color(RED); |
136 | 321 | bcoltin | /*TODO: Implement a crazy state.*/
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137 | 759 | cmar | if(prev_state == BACKWARDS) {
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138 | delay_motors(); |
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139 | } |
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140 | 321 | bcoltin | move(STRAIT_SPEED,-pControl); |
141 | break;
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142 | |||
143 | default:
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144 | /*Should never get here, go strait.*/
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145 | 734 | cmar | move(100,0); //orb_set_color(BLUE); |
146 | 321 | bcoltin | break;
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147 | } |
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148 | } |
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149 | |||
150 | 734 | cmar | void delay_motors() {
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151 | int count = 0; |
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152 | move(0,0); |
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153 | //usb_puts("called delay_motors()\n\r");
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154 | while(count < 300) { |
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155 | delay_ms(1);
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156 | wl_do(); |
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157 | count++; |
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158 | } |
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159 | } |