Revision 1409
Changed BOM threshold to 120, seems to be helping for some robot and causing problems for others
hunter-prey is done except the hunting part
| main.c | ||
|---|---|---|
| 20 | 20 |
volatile uint8_t tagger; |
| 21 | 21 |
uint8_t id; |
| 22 | 22 |
|
| 23 |
void test_bom() {
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| 24 |
int i; |
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| 25 |
int val; |
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| 26 |
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| 27 |
while(1) {
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| 28 |
bom_refresh(BOM_ALL); |
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| 29 |
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| 30 |
for(i=0; i<16; i++) {
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| 31 |
val = bom_get(i); |
|
| 32 |
usb_puti(val); |
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| 33 |
usb_putc(' ');
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| 34 |
} |
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| 35 |
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| 36 |
usb_putc('\n');
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| 37 |
delay_ms(500); |
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| 38 |
} |
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| 39 |
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| 40 |
} |
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| 41 |
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| 23 | 42 |
int main(void) {
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| 24 | 43 |
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| 25 | 44 |
int frontRange; |
| ... | ... | |
| 27 | 46 |
uint8_t i; |
| 28 | 47 |
int onTarget = 0; |
| 29 | 48 |
char packet[2]; |
| 49 |
uint8_t bom = 0; |
|
| 30 | 50 |
|
| 31 | 51 |
//intialize the robot and wireless |
| 32 | 52 |
dragonfly_init(ALL_ON); |
| 33 | 53 |
|
| 54 |
//test_bom(); |
|
| 55 |
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|
| 34 | 56 |
id = get_robotid(); |
| 35 | 57 |
packet[1] = id; |
| 36 | 58 |
usb_puts("hello, I am robot \n");
|
| ... | ... | |
| 45 | 67 |
|
| 46 | 68 |
run_around_init(); |
| 47 | 69 |
|
| 48 |
// bom_init(BOM15); |
|
| 49 |
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|
| 50 | 70 |
usb_puts("channel\n");
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| 51 | 71 |
|
| 52 | 72 |
//use a specific channel to avoid interfering with other tasks |
| ... | ... | |
| 60 | 80 |
//if button 2 is held, you are prey |
| 61 | 81 |
if(button2_read()) {
|
| 62 | 82 |
robotState = ROBOT_PREY; |
| 83 |
bom_on(); |
|
| 63 | 84 |
} |
| 64 | 85 |
|
| 65 | 86 |
|
| ... | ... | |
| 86 | 107 |
|
| 87 | 108 |
else { //ROBOT_HUNTER
|
| 88 | 109 |
|
| 89 |
// bom_refresh(BOM_ALL);
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| 110 |
bom_refresh(BOM_ALL); |
|
| 90 | 111 |
|
| 91 | 112 |
frontRange = range_read_distance (IR2); |
| 92 | 113 |
|
| 93 |
/* usb_puti(frontRange); */
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/* usb_putc('\n'); */
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usb_puti(frontRange);
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usb_putc(',');
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| 95 | 116 |
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| 96 | 117 |
//BUG: when get_max_bom is called, the rangefinder seems to stop |
| 97 | 118 |
//working |
| 98 |
//angle = get_max_bom(); |
|
| 99 |
angle = 4; |
|
| 119 |
angle = bom_get_max(); |
|
| 120 |
usb_puti(angle); |
|
| 121 |
usb_putc('\n');
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| 100 | 122 |
|
| 101 | 123 |
if(angle == 4 && frontRange > 0 && frontRange < TAG_RANGE) {
|
| 102 | 124 |
if(onTarget == 0) {
|
| ... | ... | |
| 124 | 146 |
usb_puts("ACK!\n");
|
| 125 | 147 |
// delay_ms(TAG_PAUSE); |
| 126 | 148 |
robotState = ROBOT_PREY; |
| 149 |
bom_on(); |
|
| 127 | 150 |
} |
| 128 | 151 |
else {
|
| 129 | 152 |
usb_puts("ACK failed!\n");
|
| ... | ... | |
| 156 | 179 |
if(packet[0] == 'T') {
|
| 157 | 180 |
if(robotState == ROBOT_PREY) {
|
| 158 | 181 |
robotState = ROBOT_TAGGED; |
| 182 |
bom_off(); |
|
| 159 | 183 |
color = BLUE; |
| 160 | 184 |
orb_set_color(BLUE); |
| 161 | 185 |
tagger = packet[1]; |
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