root / branches / library_refactor / behaviors / orbit_fsm / orbit_fsm.c @ 1390
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1 | 672 | dsschult | #include <dragonfly_lib.h> |
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2 | #include <wireless.h> |
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3 | #include <wl_token_ring.h> |
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4 | #include "orbit_fsm.h" |
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5 | |||
6 | /* Used to orbit a robot
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7 | |||
8 | Must be within BOM range of robot before activating
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9 | |||
10 | orbit_theta_stop requires encoders, and is incomplete
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11 | |||
12 | Assumes:
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13 | both robots are already in a token ring
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14 | */
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15 | |||
16 | |||
17 | /* private function prototype */
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18 | void evaluate_state(void); |
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19 | |||
20 | |||
21 | /* primary init */
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22 | void orbit_init(int robot) { |
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23 | range_init(); |
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24 | analog_init(1);
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25 | motors_init(); |
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26 | orb_init(); |
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27 | orb_enable(); |
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28 | //usb_init();
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29 | |||
30 | /*Start in the start state, ORBIT_SEEK */
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31 | orbit_state = ORBIT_SEEK; |
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32 | |||
33 | orbit_otherRobot = robot; // set which robot to seek and orbit
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34 | |||
35 | orbit_pControl=0;
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36 | orbit_bom = 0;
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37 | orbit_theta = 0;
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38 | orbit_theta_stop = 1000;
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39 | |||
40 | /*Initialize distances to zero.*/
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41 | orbit_d1=1000; orbit_d2=1000; orbit_d3=1000; orbit_d4=1000; orbit_d5=1000; |
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42 | |||
43 | } |
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44 | /* secondary init */
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45 | void orbit_init_theta(int robot,int theta) { |
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46 | range_init(); |
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47 | analog_init(1);
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48 | motors_init(); |
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49 | orb_init(); |
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50 | orb_enable(); |
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51 | //usb_init();
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52 | |||
53 | /*Start in the start state, ORBIT_SEEK */
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54 | orbit_state = ORBIT_SEEK; |
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55 | |||
56 | orbit_otherRobot = robot; // set which robot to seek and orbit
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57 | |||
58 | orbit_pControl=0;
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59 | orbit_bom = 0;
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60 | orbit_theta = 0;
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61 | orbit_theta_stop = (theta>0)?theta:-1; // check theta_stop |
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62 | |||
63 | /*Initialize distances to zero.*/
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64 | orbit_d1=1000; orbit_d2=1000; orbit_d3=1000; orbit_d4=1000; orbit_d5=1000; |
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65 | |||
66 | } |
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67 | |||
68 | /*The main function, call this to update states as frequently as possible.*/
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69 | void orbit_fsm(void) { |
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70 | |||
71 | /*The following lines ensure that undefined (-1) values
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72 | will not update the distances.*/
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73 | int temp;
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74 | |||
75 | temp=range_read_distance(IR1); |
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76 | orbit_d1=(temp == -1) ? orbit_d1 : temp;
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77 | |||
78 | temp=range_read_distance(IR2); |
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79 | orbit_d2=(temp == -1) ? orbit_d2 : temp;
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80 | |||
81 | temp=range_read_distance(IR3); |
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82 | orbit_d3=(temp == -1) ? orbit_d3 : temp;
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83 | |||
84 | temp=range_read_distance(IR4); |
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85 | orbit_d4=(temp == -1) ? orbit_d4 : temp;
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86 | |||
87 | temp=range_read_distance(IR5); |
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88 | orbit_d5=(temp == -1) ? orbit_d5 : temp;
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89 | |||
90 | wl_do(); // update wireless
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91 | |||
92 | // get bom reading
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93 | temp = wl_token_get_my_sensor_reading(orbit_otherRobot); |
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94 | orbit_bom = (temp == -1) ? orbit_bom : temp;
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95 | |||
96 | // modify bom reading so right is negative, left is positive
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97 | if (orbit_bom <= 12) |
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98 | orbit_bom -= 4;
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99 | else
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100 | orbit_bom -= 20;
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101 | |||
102 | |||
103 | if (orbit_state == ORBIT_SEEK && orbit_d2 < ORBIT_DISTANCE)
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104 | orbit_state = ORBIT_INSERTION; // begin to orbit
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105 | if (orbit_state == ORBIT_INSERTION && orbit_bom == ORBIT_DIRECTION)
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106 | orbit_state = ORBIT_ORBITING; // orbit achieved
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107 | if (orbit_state == ORBIT_ORBITING && ((orbit_d2 < ORBIT_DISTANCE)
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108 | || (orbit_theta >= orbit_theta_stop))) |
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109 | orbit_state = ORBIT_STOP; // orbit obstructed
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110 | |||
111 | // evaluate state
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112 | evaluate_state(); |
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113 | } |
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114 | |||
115 | |||
116 | //Acts on state change.
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117 | void evaluate_state(){
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118 | switch(orbit_state){
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119 | case(ORBIT_SEEK): orb_set_color(RED);
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120 | // move towards robot
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121 | orbit_pControl = orbit_bom*10;
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122 | move(ORBIT_STRAIGHT_SPEED,orbit_pControl); |
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123 | break;
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124 | |||
125 | case(ORBIT_INSERTION): orb_set_color(GREEN);
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126 | // rotate into orbit, perpendicular to other robot
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127 | orbit_pControl = -ORBIT_DIRECTION*10;
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128 | move(ORBIT_STRAIGHT_SPEED/3,orbit_pControl);
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129 | break;
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130 | |||
131 | case(ORBIT_ORBITING): orb_set_color(BLUE);
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132 | // go straight with slight rotation
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133 | if (orbit_bom == ORBIT_DIRECTION)
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134 | orbit_pControl = ORBIT_DIRECTION; |
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135 | else if (orbit_bom < ORBIT_DIRECTION) |
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136 | orbit_pControl = ORBIT_DIRECTION-ORBIT_CORRECTION; |
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137 | else
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138 | orbit_pControl = ORBIT_DIRECTION+ORBIT_CORRECTION; |
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139 | |||
140 | move(ORBIT_STRAIGHT_SPEED,orbit_pControl); |
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141 | break;
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142 | |||
143 | case(ORBIT_STOP): orb_set_color(YELLOW);
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144 | move(0,0); |
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145 | break;
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146 | |||
147 | default: orb_set_color(YELLOW);
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148 | /*Should never get here, so stop.*/
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149 | move(0,0); |
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150 | break;
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151 | } |
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152 | } |
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153 |