Revision 1411
Hunter-prey works! its a decent proof of concept but could use improvement
using robots Edgar (3), 7, 5
| main.c | ||
|---|---|---|
| 4 | 4 |
#include "smart_run_around_fsm.h" |
| 5 | 5 |
|
| 6 | 6 |
#define CHAN 0xF |
| 7 |
#define TAG_TIME 5
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|
| 8 |
#define TAG_RANGE 150
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|
| 7 |
#define TAG_TIME 2
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|
| 8 |
#define TAG_RANGE 200
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|
| 9 | 9 |
#define TAG_PAUSE 2000 |
| 10 | 10 |
|
| 11 | 11 |
#define ROBOT_HUNTER 0 |
| ... | ... | |
| 15 | 15 |
void packet_receive(char type, int source, unsigned char* packet, int length); |
| 16 | 16 |
|
| 17 | 17 |
volatile uint8_t robotState = ROBOT_HUNTER; |
| 18 |
volatile uint8_t color; |
|
| 18 |
volatile uint8_t color1, color2;
|
|
| 19 | 19 |
volatile uint8_t tagAck; |
| 20 | 20 |
volatile uint8_t tagger; |
| 21 | 21 |
uint8_t id; |
| ... | ... | |
| 106 | 106 |
usb_puts("orb set\n");
|
| 107 | 107 |
|
| 108 | 108 |
orb_set_color(BLUE); |
| 109 |
color = BLUE; |
|
| 109 |
color1 = BLUE; |
|
| 110 |
color2 = BLUE; |
|
| 110 | 111 |
|
| 111 | 112 |
//if button 2 is held, you are prey |
| 112 | 113 |
if(button2_read()) {
|
| ... | ... | |
| 119 | 120 |
|
| 120 | 121 |
if(robotState==ROBOT_TAGGED) {
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| 121 | 122 |
usb_puts("tagged, waiting to send ACK\n");
|
| 123 |
delay_ms(TAG_PAUSE); |
|
| 122 | 124 |
move(0,0); |
| 123 |
delay_ms(TAG_PAUSE); |
|
| 124 | 125 |
usb_puts("sending ACK to ");
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| 125 | 126 |
usb_puti(tagger); |
| 126 | 127 |
usb_putc('\n');
|
| ... | ... | |
| 128 | 129 |
packet[1] = tagger; |
| 129 | 130 |
wl_basic_send_global_packet (0, packet, 2); |
| 130 | 131 |
usb_puts("sent\n");
|
| 131 |
move(0,0); |
|
| 132 | 132 |
robotState = ROBOT_HUNTER; //no longer prey |
| 133 | 133 |
} |
| 134 | 134 |
|
| ... | ... | |
| 140 | 140 |
|
| 141 | 141 |
bom_refresh(BOM_ALL); |
| 142 | 142 |
|
| 143 |
delay_ms(100); |
|
| 144 |
|
|
| 143 | 145 |
frontRange = range_read_distance (IR2); |
| 144 | 146 |
|
| 145 | 147 |
/* usb_puti(frontRange); */ |
| ... | ... | |
| 153 | 155 |
|
| 154 | 156 |
chase(angle); |
| 155 | 157 |
|
| 158 |
if(angle < 7 && angle > 1) {
|
|
| 159 |
if(color1 != RED) {
|
|
| 160 |
color1 = RED; |
|
| 161 |
orb1_set_color(RED); |
|
| 162 |
} |
|
| 163 |
} |
|
| 164 |
else {
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| 165 |
if(color1 != BLUE) {
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|
| 166 |
color1 = BLUE; |
|
| 167 |
orb1_set_color(BLUE); |
|
| 168 |
} |
|
| 169 |
} |
|
| 170 |
|
|
| 171 |
|
|
| 172 |
usb_puti(frontRange); |
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usb_putc('\n');
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| 174 |
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| 175 |
if(frontRange > 0 && frontRange < TAG_RANGE) {
|
|
| 176 |
if(color2 != RED) {
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| 177 |
color2 = RED; |
|
| 178 |
orb2_set_color(RED); |
|
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} |
|
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} |
|
| 181 |
else {
|
|
| 182 |
if(color2 != BLUE) {
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|
| 183 |
color2 = BLUE; |
|
| 184 |
orb2_set_color(BLUE); |
|
| 185 |
} |
|
| 186 |
} |
|
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| 188 |
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| 189 |
|
|
| 156 | 190 |
if(angle < 7 && angle > 1 && frontRange > 0 && frontRange < TAG_RANGE) {
|
| 157 | 191 |
if(onTarget == 0) {
|
| 158 | 192 |
onTarget = TAG_TIME; |
| 159 |
if(color != GREEN) {
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|
| 160 |
color = GREEN; |
|
| 193 |
if(color1 != GREEN) {
|
|
| 194 |
color1 = GREEN; |
|
| 195 |
color2 = GREEN; |
|
| 161 | 196 |
orb_set_color(GREEN); |
| 162 | 197 |
} |
| 163 | 198 |
usb_puts("On target!\n");
|
| ... | ... | |
| 165 | 200 |
else {
|
| 166 | 201 |
if(--onTarget <= 0) {
|
| 167 | 202 |
orb_set_color(YELLOW); |
| 168 |
color = YELLOW; |
|
| 203 |
color1 = YELLOW; |
|
| 204 |
color2 = YELLOW; |
|
| 169 | 205 |
usb_puts("TAG!\n");
|
| 170 | 206 |
tagAck = 0; |
| 171 | 207 |
packet[0] = 'T'; |
| ... | ... | |
| 177 | 213 |
|
| 178 | 214 |
if(tagAck == id) { //if the ack was for us
|
| 179 | 215 |
usb_puts("ACK!\n");
|
| 180 |
// delay_ms(TAG_PAUSE); |
|
| 216 |
|
|
| 217 |
move(-230,0); //back up to give the new prey some room |
|
| 218 |
delay_ms(TAG_PAUSE/2); |
|
| 219 |
move(0,0); |
|
| 220 |
|
|
| 181 | 221 |
robotState = ROBOT_PREY; |
| 182 | 222 |
bom_on(); |
| 183 | 223 |
} |
| ... | ... | |
| 188 | 228 |
} |
| 189 | 229 |
} |
| 190 | 230 |
else{
|
| 191 |
if(color != BLUE) {
|
|
| 192 |
color = BLUE; |
|
| 193 |
orb_set_color(BLUE); |
|
| 194 |
} |
|
| 195 |
|
|
| 196 | 231 |
//don't reset onTarget because the robot got too close |
| 197 | 232 |
if(frontRange > 0) |
| 198 | 233 |
onTarget = 0; |
| ... | ... | |
| 213 | 248 |
if(robotState == ROBOT_PREY) {
|
| 214 | 249 |
robotState = ROBOT_TAGGED; |
| 215 | 250 |
bom_off(); |
| 216 |
color = BLUE; |
|
| 251 |
color1 = BLUE; |
|
| 252 |
color2 = BLUE; |
|
| 217 | 253 |
orb_set_color(BLUE); |
| 218 | 254 |
tagger = packet[1]; |
| 219 | 255 |
} |
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