Revision 1456
branches/colonetmk2/code/projects/hunter_prey/smart_run_around_fsm.h | ||
---|---|---|
1 |
// smart_run_around_fsm.h |
|
2 |
// required to run Smart Run Around functions |
|
3 |
// declare functions and global variables |
|
4 |
|
|
5 |
#ifndef _RUN_AROUND_FSM_H_ |
|
6 |
#define _RUN_AROUND_FSM_H_ |
|
7 |
|
|
8 |
// states (robot shall never move in reverse) |
|
9 |
// these constants may be changed (but can't overlap) without effect |
|
10 |
#define SRA_FORWARD 0 // drive straight forward |
|
11 |
#define SRA_LEFT 1 // drive forward and to the left |
|
12 |
#define SRA_RIGHT 2 // drive forward and to the right |
|
13 |
#define SRA_SPIN 3 // turn without traveling (last resort if otherwise stuck) |
|
14 |
|
|
15 |
/* conditions on rangefinders (in mm) informing state changes |
|
16 |
* distances are 50 greater than in real life, cannot be smaller than 100 |
|
17 |
* naming format: SENSOR_URGENCY |
|
18 |
* changing these constants affects robot operation |
|
19 |
*/ |
|
20 |
#define IR2_DANGER 150 // 10 cm: dangerously close to front |
|
21 |
#define IR13_DANGER 200 // 15 cm: dangerously close to sides (looking ahead) |
|
22 |
#define IR2_INTEREST 300 // 25 cm: notably close to front |
|
23 |
#define IR45_DANGER 150 // dangerously close to side (looking sideways) |
|
24 |
|
|
25 |
uint8_t state; // current state of FSM: SRA_FORWARD, SRA_LEFT, SRA_RIGHT, SRA_SPIN |
|
26 |
int16_t d1, d2, d3, d4, d5; // values returned by rangefinders |
|
27 |
|
|
28 |
// initialize rangefinders and global variables |
|
29 |
void run_around_init(void); |
|
30 |
|
|
31 |
/* evaluate rangefinder input and update state |
|
32 |
* call this function as often as possible to avoid collisions |
|
33 |
*/ |
|
34 |
void run_around_FSM(void); |
|
35 |
|
|
36 |
// behave according to current state |
|
37 |
void evaluate_state(void); |
|
38 |
|
|
39 |
#endif |
|
40 |
|
|
41 | 0 |
branches/colonetmk2/code/projects/hunter_prey/Makefile | ||
---|---|---|
1 |
########Update This Section######## |
|
2 |
# |
|
3 |
# |
|
4 |
|
|
5 |
# Relative path to the root directory (containing lib directory) |
|
6 |
ifndef COLONYROOT |
|
7 |
COLONYROOT = ../../.. |
|
8 |
endif |
|
9 |
|
|
10 |
# Target file name (without extension). |
|
11 |
TARGET = main |
|
12 |
|
|
13 |
# Uncomment this to use the wireless library |
|
14 |
USE_WIRELESS = 1 |
|
15 |
|
|
16 |
# com1 = serial port. Use lpt1 to connect to parallel port. |
|
17 |
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi) |
|
18 |
|
|
19 |
# |
|
20 |
################################### |
|
21 |
|
|
22 |
# Hey Emacs, this is a -*- makefile -*- |
|
23 |
#---------------------------------------------------------------------------- |
|
24 |
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
|
25 |
# |
|
26 |
# Released to the Public Domain |
|
27 |
# |
|
28 |
# Additional material for this makefile was written by: |
|
29 |
# Peter Fleury |
|
30 |
# Tim Henigan |
|
31 |
# Colin O'Flynn |
|
32 |
# Reiner Patommel |
|
33 |
# Markus Pfaff |
|
34 |
# Sander Pool |
|
35 |
# Frederik Rouleau |
|
36 |
# |
|
37 |
#---------------------------------------------------------------------------- |
|
38 |
# On command line: |
|
39 |
# |
|
40 |
# make all = Make software. |
|
41 |
# |
|
42 |
# make clean = Clean out built project files. |
|
43 |
# |
|
44 |
# make coff = Convert ELF to AVR COFF. |
|
45 |
# |
|
46 |
# make extcoff = Convert ELF to AVR Extended COFF. |
|
47 |
# |
|
48 |
# make program = Download the hex file to the device, using avrdude. |
|
49 |
# Please customize the avrdude settings below first! |
|
50 |
# |
|
51 |
# make debug = Start either simulavr or avarice as specified for debugging, |
|
52 |
# with avr-gdb or avr-insight as the front end for debugging. |
|
53 |
# |
|
54 |
# make filename.s = Just compile filename.c into the assembler code only. |
|
55 |
# |
|
56 |
# make filename.i = Create a preprocessed source file for use in submitting |
|
57 |
# bug reports to the GCC project. |
|
58 |
# |
|
59 |
# To rebuild project do "make clean" then "make all". |
|
60 |
#---------------------------------------------------------------------------- |
|
61 |
|
|
62 |
#if you want your code to work on the Firefly++ and not Firefly+ |
|
63 |
#then add the -DFFPP line to CDEFS |
|
64 |
CDEFS = |
|
65 |
#-DFFPP |
|
66 |
|
|
67 |
# MCU name |
|
68 |
MCU = atmega128 |
|
69 |
|
|
70 |
# Processor frequency. |
|
71 |
# This will define a symbol, F_CPU, in all source code files equal to the |
|
72 |
# processor frequency. You can then use this symbol in your source code to |
|
73 |
# calculate timings. Do NOT tack on a 'UL' at the end, this will be done |
|
74 |
# automatically to create a 32-bit value in your source code. |
|
75 |
F_CPU = 8000000 |
|
76 |
|
|
77 |
# Output format. (can be srec, ihex, binary) |
|
78 |
FORMAT = ihex |
|
79 |
|
|
80 |
# List C source files here. (C dependencies are automatically generated.) |
|
81 |
SRC = $(wildcard *.c) |
|
82 |
|
|
83 |
# List Assembler source files here. |
|
84 |
# Make them always end in a capital .S. Files ending in a lowercase .s |
|
85 |
# will not be considered source files but generated files (assembler |
|
86 |
# output from the compiler), and will be deleted upon "make clean"! |
|
87 |
# Even though the DOS/Win* filesystem matches both .s and .S the same, |
|
88 |
# it will preserve the spelling of the filenames, and gcc itself does |
|
89 |
# care about how the name is spelled on its command-line. |
|
90 |
ASRC = |
|
91 |
|
|
92 |
# Optimization level, can be [0, 1, 2, 3, s]. |
|
93 |
# 0 = turn off optimization. s = optimize for size. |
|
94 |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
|
95 |
OPT = s |
|
96 |
|
|
97 |
# Debugging format. |
|
98 |
# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
|
99 |
# AVR Studio 4.10 requires dwarf-2. |
|
100 |
# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
|
101 |
DEBUG = |
|
102 |
|
|
103 |
# Compiler flag to set the C Standard level. |
|
104 |
# c89 = "ANSI" C |
|
105 |
# gnu89 = c89 plus GCC extensions |
|
106 |
# c99 = ISO C99 standard (not yet fully implemented) |
|
107 |
# gnu99 = c99 plus GCC extensions |
|
108 |
CSTANDARD = -std=gnu99 |
|
109 |
|
|
110 |
# Place -D or -U options here |
|
111 |
CDEFS += -DF_CPU=$(F_CPU)UL |
|
112 |
CDEFS += -DFFP |
|
113 |
# for wireless library |
|
114 |
ifdef USE_WIRELESS |
|
115 |
CDEFS += -DROBOT |
|
116 |
endif |
|
117 |
|
|
118 |
# Place -I, -L options here |
|
119 |
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly |
|
120 |
CINCS += -L$(COLONYROOT)/code/lib/bin |
|
121 |
ifdef USE_WIRELESS |
|
122 |
CINCS += -I$(COLONYROOT)/code/lib/include/libwireless |
|
123 |
endif |
|
124 |
|
|
125 |
#---------------- Compiler Options ---------------- |
|
126 |
# -g*: generate debugging information |
|
127 |
# -O*: optimization level |
|
128 |
# -f...: tuning, see GCC manual and avr-libc documentation |
|
129 |
# -Wall...: warning level |
|
130 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
131 |
# -adhlns...: create assembler listing |
|
132 |
CFLAGS = |
|
133 |
# CFLAGS = -g$(DEBUG) |
|
134 |
CFLAGS += $(CDEFS) $(CINCS) |
|
135 |
CFLAGS += -O$(OPT) |
|
136 |
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
|
137 |
CFLAGS += -Wall -Wstrict-prototypes |
|
138 |
CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
|
139 |
CFLAGS += $(CSTANDARD) |
|
140 |
|
|
141 |
#---------------- Assembler Options ---------------- |
|
142 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
143 |
# -ahlms: create listing |
|
144 |
# -gstabs: have the assembler create line number information; note that |
|
145 |
# for use in COFF files, additional information about filenames |
|
146 |
# and function names needs to be present in the assembler source |
|
147 |
# files -- see avr-libc docs [FIXME: not yet described there] |
|
148 |
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
|
149 |
|
|
150 |
|
|
151 |
#---------------- Library Options ---------------- |
|
152 |
# Minimalistic printf version |
|
153 |
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
|
154 |
|
|
155 |
# Floating point printf version (requires MATH_LIB = -lm below) |
|
156 |
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
|
157 |
|
|
158 |
# If this is left blank, then it will use the Standard printf version. |
|
159 |
#PRINTF_LIB = |
|
160 |
#PRINTF_LIB = $(PRINTF_LIB_MIN) |
|
161 |
PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
|
162 |
|
|
163 |
|
|
164 |
# Minimalistic scanf version |
|
165 |
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
|
166 |
|
|
167 |
# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
|
168 |
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
|
169 |
|
|
170 |
# If this is left blank, then it will use the Standard scanf version. |
|
171 |
SCANF_LIB = |
|
172 |
#SCANF_LIB = $(SCANF_LIB_MIN) |
|
173 |
#SCANF_LIB = $(SCANF_LIB_FLOAT) |
|
174 |
|
|
175 |
MATH_LIB = -lm |
|
176 |
|
|
177 |
#---------------- External Memory Options ---------------- |
|
178 |
|
|
179 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
180 |
# used for variables (.data/.bss) and heap (malloc()). |
|
181 |
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
|
182 |
|
|
183 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
184 |
# only used for heap (malloc()). |
|
185 |
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
|
186 |
|
|
187 |
EXTMEMOPTS = |
|
188 |
|
|
189 |
#---------------- Linker Options ---------------- |
|
190 |
# -Wl,...: tell GCC to pass this to linker. |
|
191 |
# -Map: create map file |
|
192 |
# --cref: add cross reference to map file |
|
193 |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
|
194 |
LDFLAGS += $(EXTMEMOPTS) |
|
195 |
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
|
196 |
ifdef USE_WIRELESS |
|
197 |
LDFLAGS += -lwireless |
|
198 |
endif |
|
199 |
LDFLAGS += -ldragonfly |
|
200 |
|
|
201 |
|
|
202 |
|
|
203 |
#---------------- Programming Options (avrdude) ---------------- |
|
204 |
|
|
205 |
# Programming hardware: alf avr910 avrisp bascom bsd |
|
206 |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
|
207 |
# |
|
208 |
# Type: avrdude -c ? |
|
209 |
# to get a full listing. |
|
210 |
# |
|
211 |
AVRDUDE_PROGRAMMER = avrisp |
|
212 |
|
|
213 |
# programmer connected to serial device |
|
214 |
|
|
215 |
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
|
216 |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
|
217 |
|
|
218 |
|
|
219 |
# Uncomment the following if you want avrdude's erase cycle counter. |
|
220 |
# Note that this counter needs to be initialized first using -Yn, |
|
221 |
# see avrdude manual. |
|
222 |
#AVRDUDE_ERASE_COUNTER = -y |
|
223 |
|
|
224 |
# Uncomment the following if you do /not/ wish a verification to be |
|
225 |
# performed after programming the device. |
|
226 |
#AVRDUDE_NO_VERIFY = -V |
|
227 |
|
|
228 |
# Increase verbosity level. Please use this when submitting bug |
|
229 |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
|
230 |
# to submit bug reports. |
|
231 |
#AVRDUDE_VERBOSE = -v -v |
|
232 |
|
|
233 |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
|
234 |
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
|
235 |
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
|
236 |
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
|
237 |
|
|
238 |
#don't check for device signature |
|
239 |
AVRDUDE_FLAGS += -F |
|
240 |
|
|
241 |
|
|
242 |
|
|
243 |
#---------------- Debugging Options ---------------- |
|
244 |
|
|
245 |
# For simulavr only - target MCU frequency. |
|
246 |
DEBUG_MFREQ = $(F_CPU) |
|
247 |
|
|
248 |
# Set the DEBUG_UI to either gdb or insight. |
|
249 |
# DEBUG_UI = gdb |
|
250 |
DEBUG_UI = insight |
|
251 |
|
|
252 |
# Set the debugging back-end to either avarice, simulavr. |
|
253 |
DEBUG_BACKEND = avarice |
|
254 |
#DEBUG_BACKEND = simulavr |
|
255 |
|
|
256 |
# GDB Init Filename. |
|
257 |
GDBINIT_FILE = __avr_gdbinit |
|
258 |
|
|
259 |
# When using avarice settings for the JTAG |
|
260 |
JTAG_DEV = /dev/com1 |
|
261 |
|
|
262 |
# Debugging port used to communicate between GDB / avarice / simulavr. |
|
263 |
DEBUG_PORT = 4242 |
|
264 |
|
|
265 |
# Debugging host used to communicate between GDB / avarice / simulavr, normally |
|
266 |
# just set to localhost unless doing some sort of crazy debugging when |
|
267 |
# avarice is running on a different computer. |
|
268 |
DEBUG_HOST = localhost |
|
269 |
|
|
270 |
|
|
271 |
|
|
272 |
#============================================================================ |
|
273 |
|
|
274 |
|
|
275 |
# Define programs and commands. |
|
276 |
SHELL = sh |
|
277 |
CC = avr-gcc |
|
278 |
OBJCOPY = avr-objcopy |
|
279 |
OBJDUMP = avr-objdump |
|
280 |
SIZE = avr-size |
|
281 |
NM = avr-nm |
|
282 |
AVRDUDE = avrdude |
|
283 |
REMOVE = rm -f |
|
284 |
REMOVEDIR = rm -rf |
|
285 |
COPY = cp |
|
286 |
WINSHELL = cmd |
|
287 |
|
|
288 |
|
|
289 |
# Define Messages |
|
290 |
# English |
|
291 |
MSG_ERRORS_NONE = Errors: none |
|
292 |
MSG_BEGIN = -------- begin -------- |
|
293 |
MSG_END = -------- end -------- |
|
294 |
MSG_SIZE_BEFORE = Size before: |
|
295 |
MSG_SIZE_AFTER = Size after: |
|
296 |
MSG_COFF = Converting to AVR COFF: |
|
297 |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
|
298 |
MSG_FLASH = Creating load file for Flash: |
|
299 |
MSG_EEPROM = Creating load file for EEPROM: |
|
300 |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
|
301 |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
|
302 |
MSG_LINKING = Linking: |
|
303 |
MSG_COMPILING = Compiling: |
|
304 |
MSG_ASSEMBLING = Assembling: |
|
305 |
MSG_CLEANING = Cleaning project: |
|
306 |
|
|
307 |
|
|
308 |
|
|
309 |
|
|
310 |
# Define all object files. |
|
311 |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
|
312 |
|
|
313 |
# Define all listing files. |
|
314 |
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
|
315 |
|
|
316 |
|
|
317 |
# Compiler flags to generate dependency files. |
|
318 |
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
|
319 |
|
|
320 |
|
|
321 |
# Combine all necessary flags and optional flags. |
|
322 |
# Add target processor to flags. |
|
323 |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
|
324 |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
|
325 |
|
|
326 |
|
|
327 |
|
|
328 |
|
|
329 |
|
|
330 |
# Default target. |
|
331 |
all: begin gccversion sizebefore build sizeafter end |
|
332 |
|
|
333 |
build: elf hex eep lss sym |
|
334 |
|
|
335 |
elf: $(TARGET).elf |
|
336 |
hex: $(TARGET).hex |
|
337 |
eep: $(TARGET).eep |
|
338 |
lss: $(TARGET).lss |
|
339 |
sym: $(TARGET).sym |
|
340 |
|
|
341 |
|
|
342 |
|
|
343 |
# Eye candy. |
|
344 |
# AVR Studio 3.x does not check make's exit code but relies on |
|
345 |
# the following magic strings to be generated by the compile job. |
|
346 |
begin: |
|
347 |
@echo |
|
348 |
@echo $(MSG_BEGIN) |
|
349 |
|
|
350 |
end: |
|
351 |
@echo $(MSG_END) |
|
352 |
@echo |
|
353 |
|
|
354 |
|
|
355 |
# Display size of file. |
|
356 |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
|
357 |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
|
358 |
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
|
359 |
|
|
360 |
sizebefore: |
|
361 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
|
362 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
363 |
|
|
364 |
sizeafter: |
|
365 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
|
366 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
367 |
|
|
368 |
|
|
369 |
|
|
370 |
# Display compiler version information. |
|
371 |
gccversion : |
|
372 |
@$(CC) --version |
|
373 |
|
|
374 |
|
|
375 |
|
|
376 |
# Program the device. |
|
377 |
program: $(TARGET).hex $(TARGET).eep |
|
378 |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
|
379 |
|
|
380 |
|
|
381 |
# Generate avr-gdb config/init file which does the following: |
|
382 |
# define the reset signal, load the target file, connect to target, and set |
|
383 |
# a breakpoint at main(). |
|
384 |
gdb-config: |
|
385 |
@$(REMOVE) $(GDBINIT_FILE) |
|
386 |
@echo define reset >> $(GDBINIT_FILE) |
|
387 |
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
|
388 |
@echo end >> $(GDBINIT_FILE) |
|
389 |
@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
|
390 |
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
|
391 |
ifeq ($(DEBUG_BACKEND),simulavr) |
|
392 |
@echo load >> $(GDBINIT_FILE) |
|
393 |
endif |
|
394 |
@echo break main >> $(GDBINIT_FILE) |
|
395 |
|
|
396 |
debug: gdb-config $(TARGET).elf |
|
397 |
ifeq ($(DEBUG_BACKEND), avarice) |
|
398 |
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
|
399 |
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
|
400 |
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
|
401 |
@$(WINSHELL) /c pause |
|
402 |
|
|
403 |
else |
|
404 |
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
|
405 |
$(DEBUG_MFREQ) --port $(DEBUG_PORT) |
|
406 |
endif |
|
407 |
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
|
408 |
|
|
409 |
|
|
410 |
|
|
411 |
|
|
412 |
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
|
413 |
COFFCONVERT=$(OBJCOPY) --debugging \ |
|
414 |
--change-section-address .data-0x800000 \ |
|
415 |
--change-section-address .bss-0x800000 \ |
|
416 |
--change-section-address .noinit-0x800000 \ |
|
417 |
--change-section-address .eeprom-0x810000 |
|
418 |
|
|
419 |
|
|
420 |
coff: $(TARGET).elf |
|
421 |
@echo |
|
422 |
@echo $(MSG_COFF) $(TARGET).cof |
|
423 |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
|
424 |
|
|
425 |
|
|
426 |
extcoff: $(TARGET).elf |
|
427 |
@echo |
|
428 |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
|
429 |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
|
430 |
|
|
431 |
|
|
432 |
|
|
433 |
# Create final output files (.hex, .eep) from ELF output file. |
|
434 |
%.hex: %.elf |
|
435 |
@echo |
|
436 |
@echo $(MSG_FLASH) $@ |
|
437 |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
|
438 |
|
|
439 |
%.eep: %.elf |
|
440 |
@echo |
|
441 |
@echo $(MSG_EEPROM) $@ |
|
442 |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
|
443 |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
|
444 |
|
|
445 |
# Create extended listing file from ELF output file. |
|
446 |
%.lss: %.elf |
|
447 |
@echo |
|
448 |
@echo $(MSG_EXTENDED_LISTING) $@ |
|
449 |
$(OBJDUMP) -h -S $< > $@ |
|
450 |
|
|
451 |
# Create a symbol table from ELF output file. |
|
452 |
%.sym: %.elf |
|
453 |
@echo |
|
454 |
@echo $(MSG_SYMBOL_TABLE) $@ |
|
455 |
$(NM) -n $< > $@ |
|
456 |
|
|
457 |
|
|
458 |
|
|
459 |
# Link: create ELF output file from object files. |
|
460 |
.SECONDARY : $(TARGET).elf |
|
461 |
.PRECIOUS : $(OBJ) |
|
462 |
%.elf: $(OBJ) |
|
463 |
@echo |
|
464 |
@echo $(MSG_LINKING) $@ |
|
465 |
$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
|
466 |
|
|
467 |
|
|
468 |
# Compile: create object files from C source files. |
|
469 |
%.o : %.c |
|
470 |
@echo |
|
471 |
@echo $(MSG_COMPILING) $< |
|
472 |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
|
473 |
|
|
474 |
|
|
475 |
# Compile: create assembler files from C source files. |
|
476 |
%.s : %.c |
|
477 |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
|
478 |
|
|
479 |
|
|
480 |
# Assemble: create object files from assembler source files. |
|
481 |
%.o : %.S |
|
482 |
@echo |
|
483 |
@echo $(MSG_ASSEMBLING) $< |
|
484 |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
|
485 |
|
|
486 |
# Create preprocessed source for use in sending a bug report. |
|
487 |
%.i : %.c |
|
488 |
$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
|
489 |
|
|
490 |
|
|
491 |
# Target: clean project. |
|
492 |
clean: begin clean_list end |
|
493 |
|
|
494 |
clean_list : |
|
495 |
@echo |
|
496 |
@echo $(MSG_CLEANING) |
|
497 |
$(REMOVE) $(TARGET).hex |
|
498 |
$(REMOVE) $(TARGET).eep |
|
499 |
$(REMOVE) $(TARGET).cof |
|
500 |
$(REMOVE) $(TARGET).elf |
|
501 |
$(REMOVE) $(TARGET).map |
|
502 |
$(REMOVE) $(TARGET).sym |
|
503 |
$(REMOVE) $(TARGET).lss |
|
504 |
$(REMOVE) $(OBJ) |
|
505 |
$(REMOVE) $(LST) |
|
506 |
$(REMOVE) $(SRC:.c=.s) |
|
507 |
$(REMOVE) $(SRC:.c=.d) |
|
508 |
$(REMOVEDIR) .dep |
|
509 |
|
|
510 |
|
|
511 |
|
|
512 |
# Include the dependency files. |
|
513 |
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
|
514 |
|
|
515 |
|
|
516 |
# Listing of phony targets. |
|
517 |
.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
|
518 |
build elf hex eep lss sym coff extcoff \ |
|
519 |
clean clean_list program debug gdb-config |
|
520 |
|
branches/colonetmk2/code/projects/hunter_prey/testbench/main.c | ||
---|---|---|
1 |
/* testbench for Lab 2 first checkpoint |
|
2 |
* determine whether robot under test complies with communication standard |
|
3 |
* to be conducted using XBee USB dongle |
|
4 |
*/ |
|
5 |
|
|
6 |
/* The tests shall be as follows |
|
7 |
* 1. Receive a TAG, send an ACK |
|
8 |
* - Robot passes if it sends a tag and changes to prey state |
|
9 |
* 2. Send a TAG, receive an ACK |
|
10 |
* - Pass if sends ACK, changes to wait state, then hunter state |
|
11 |
* 3. Receive TAG, send slightly delayed (< 1s) ACK |
|
12 |
* - Pass if sends one and only one TAG packet (and changes state appropriately) |
|
13 |
* 4. Receive TAG, do not send ACK |
|
14 |
* - Pass if sends one and only one TAG packet (and does not change state) |
|
15 |
* 5. Receive TAG, send ACK to incorrect robot |
|
16 |
* - Pass if goes to wait state, then back to hunter state |
|
17 |
* 6. Simulate TAG from robot A to B, ACK from B to A |
|
18 |
* - Pass if ignores TAG, goes to wait then hunter in response to ACK |
|
19 |
*/ |
|
20 |
|
|
21 |
#include <stdlib.h> |
|
22 |
#include <stdio.h> |
|
23 |
#include <unistd.h> |
|
24 |
#include "../../libwireless/lib/wl_basic.h" |
|
25 |
#include "../../libwireless/lib/wireless.h" |
|
26 |
#include "hunter_prey.h" |
|
27 |
|
|
28 |
#define CHANNEL 0xF // channel for wireless communication |
|
29 |
#define TYPE 42 // packet type for wireless communication |
|
30 |
#define ROBOTID 255 // make up a robot id because the PC doesn't have one |
|
31 |
|
|
32 |
int main(int argc, char *argv[]) |
|
33 |
{ |
|
34 |
char send_buffer[2]; // holds data to send |
|
35 |
int data_length; // length of data received |
|
36 |
unsigned char *packet_data; // data received |
|
37 |
|
|
38 |
// set up wireless |
|
39 |
wl_basic_init_default(); |
|
40 |
wl_set_channel(CHANNEL); |
|
41 |
wl_set_com_port("/dev/ttyUSB0"); |
|
42 |
|
|
43 |
printf("Testing communications\n\n"); |
|
44 |
|
|
45 |
// Receive TAG, send ACK |
|
46 |
printf("Receive TAG, send ACK... "); |
|
47 |
fflush(stdout); |
|
48 |
// Wait until we receive a packet |
|
49 |
while (!(packet_data = wl_basic_do_default(&data_length))); |
|
50 |
|
|
51 |
if (data_length > 2) |
|
52 |
{ |
|
53 |
printf("Excessive TAG packet length... "); |
|
54 |
fflush(stdout); |
|
55 |
} |
|
56 |
|
|
57 |
if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
|
58 |
{ |
|
59 |
// send back an ACK |
|
60 |
send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
|
61 |
send_buffer[1] = packet_data[1]; |
|
62 |
wl_basic_send_global_packet(TYPE, send_buffer, 2); |
|
63 |
|
|
64 |
printf("PASSED\n"); |
|
65 |
} |
|
66 |
else |
|
67 |
printf("FAILED\n"); |
|
68 |
|
|
69 |
// Send a TAG, receive an ACK |
|
70 |
printf("Send TAG, wait for ACK... "); |
|
71 |
fflush(stdout); |
|
72 |
|
|
73 |
send_buffer[0] = HUNTER_PREY_ACTION_TAG; |
|
74 |
send_buffer[1] = ROBOTID; |
|
75 |
// robot number stays the same |
|
76 |
wl_basic_send_global_packet(TYPE, send_buffer, 2); |
|
77 |
|
|
78 |
// Wait for an ACK |
|
79 |
usleep(800000); // wait for 800 ms before sending ACK |
|
80 |
packet_data = wl_basic_do_default(&data_length); |
|
81 |
|
|
82 |
// Check ACK for presence and correctness |
|
83 |
if (!packet_data || data_length < 2 || |
|
84 |
packet_data[0] != HUNTER_PREY_ACTION_ACK || |
|
85 |
packet_data[1] != ROBOTID) |
|
86 |
printf("FAILED\n"); |
|
87 |
else |
|
88 |
printf("PASSED\n"); |
|
89 |
|
|
90 |
// Receive a TAG, send a delayed ACK |
|
91 |
printf("Receive a TAG, send a delayed ACK... "); |
|
92 |
fflush(stdout); |
|
93 |
|
|
94 |
while (!(packet_data = wl_basic_do_default(&data_length))); |
|
95 |
|
|
96 |
if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
|
97 |
{ |
|
98 |
// wait before sending ACK back |
|
99 |
usleep(900000); |
|
100 |
|
|
101 |
if (wl_basic_do_default(&data_length)) |
|
102 |
printf("FAILED\n"); |
|
103 |
else |
|
104 |
{ |
|
105 |
// send packet |
|
106 |
send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
|
107 |
send_buffer[1] = packet_data[1]; |
|
108 |
wl_basic_send_global_packet(TYPE, send_buffer, 2); |
|
109 |
|
|
110 |
printf("PASSED\n"); |
|
111 |
} |
|
112 |
} |
|
113 |
|
|
114 |
else |
|
115 |
printf("FAILED\n"); |
|
116 |
|
|
117 |
// Receive a TAG, never send an ACK |
|
118 |
printf("Receive TAG, never send ACK... "); |
|
119 |
fflush(stdout); |
|
120 |
|
|
121 |
while (!(packet_data = wl_basic_do_default(&data_length))); |
|
122 |
|
|
123 |
if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
|
124 |
{ |
|
125 |
usleep(5000000); // wait 5 seconds to see if they TAG again |
|
126 |
|
|
127 |
if (wl_basic_do_default(&data_length)) |
|
128 |
printf("FAILED\n"); |
|
129 |
else |
|
130 |
printf("PASSED\n"); |
|
131 |
} |
|
132 |
|
|
133 |
else |
|
134 |
printf("FAILED\n"); |
|
135 |
|
|
136 |
// Receive TAG, send ACK to incorrect robot |
|
137 |
printf("Receive TAG, send ACK to incorrect robot... "); |
|
138 |
fflush(stdout); |
|
139 |
|
|
140 |
// Wait until we receive a packet |
|
141 |
while (!(packet_data = wl_basic_do_default(&data_length))); |
|
142 |
|
|
143 |
if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
|
144 |
{ |
|
145 |
// send back an ACK |
|
146 |
send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
|
147 |
send_buffer[1] = packet_data[1] + 1; |
|
148 |
wl_basic_send_global_packet(TYPE, send_buffer, 2); |
|
149 |
|
|
150 |
printf("PASSED\n"); |
|
151 |
} |
|
152 |
else |
|
153 |
printf("FAILED\n"); |
|
154 |
|
|
155 |
// Simulate TAG from robot A to B, ACK from robot B to A |
|
156 |
printf("Send TAG from robot A to B, ACK from B to A... "); |
|
157 |
fflush(stdout); |
|
158 |
|
|
159 |
// TAG |
|
160 |
send_buffer[0] = HUNTER_PREY_ACTION_TAG; |
|
161 |
send_buffer[1] = packet_data[1] - 1; // robot other than testee |
|
162 |
wl_basic_send_global_packet(TYPE, send_buffer, 2); |
|
163 |
|
|
164 |
// ACK |
|
165 |
send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
|
166 |
// send_buffer[1] stays the same |
|
167 |
wl_basic_send_global_packet(TYPE, send_buffer, 2); |
|
168 |
|
|
169 |
if (wl_basic_do_default(&data_length)) |
|
170 |
printf("FAILED\n"); |
|
171 |
else |
|
172 |
printf("PASSED\n"); |
|
173 |
|
|
174 |
return 0; |
|
175 |
} |
|
176 |
|
branches/colonetmk2/code/projects/hunter_prey/testbench/hunter_prey.c | ||
---|---|---|
1 |
#include "hunter_prey.h" |
|
2 |
#include <dragonfly_lib.h> |
|
3 |
|
|
4 |
#define TAG_TIME 3 |
|
5 |
#define TAG_RANGE 200 |
|
6 |
|
|
7 |
/**** This file should not be edited! ****/ |
|
8 |
|
|
9 |
|
|
10 |
/* |
|
11 |
* The criteria for tagging are the following: |
|
12 |
* * The max bom is betweed 1 and 7 |
|
13 |
* * The front rangefinder reads less than TAG_RANGE |
|
14 |
* * -1 values from the rangefinder are ignored |
|
15 |
* * These conditions are met across TAG_TIME calls to this function |
|
16 |
*/ |
|
17 |
|
|
18 |
uint8_t hunter_prey_tagged(int max_bom, int frontRange) { |
|
19 |
|
|
20 |
static int onTarget = 0; |
|
21 |
|
|
22 |
if(max_bom < 7 && max_bom > 1 && frontRange > 0 && frontRange < TAG_RANGE) { |
|
23 |
if(onTarget == 0) { |
|
24 |
onTarget = TAG_TIME; |
|
25 |
usb_puts("On target!\n"); |
|
26 |
} |
|
27 |
else { |
|
28 |
if(--onTarget <= 0) { |
|
29 |
onTarget = 0; |
|
30 |
usb_puts("TAG!\n"); |
|
31 |
return 1; |
|
32 |
} |
|
33 |
} |
|
34 |
} |
|
35 |
else{ |
|
36 |
//don't reset onTarget because the robot got too close |
|
37 |
if(frontRange > 0) |
|
38 |
onTarget = 0; |
|
39 |
} |
|
40 |
|
|
41 |
return 0; |
|
42 |
|
|
43 |
} |
branches/colonetmk2/code/projects/hunter_prey/testbench/hunter_prey.h | ||
---|---|---|
1 |
#ifndef _HUNTER_PREY_H |
|
2 |
#define _HUNTER_PREY_H |
|
3 |
|
|
4 |
#include <inttypes.h> |
|
5 |
|
|
6 |
/* |
|
7 |
* The packet structure is 2 bytes |
|
8 |
* byte 0 is the action, which is one of the values below |
|
9 |
* byte 1 is the robot id |
|
10 |
*/ |
|
11 |
|
|
12 |
#define HUNTER_PREY_ACTION_TAG 'T' |
|
13 |
#define HUNTER_PREY_ACTION_ACK 'A' |
|
14 |
|
|
15 |
uint8_t hunter_prey_tagged(int max_bom, int front_rangefinder); |
|
16 |
|
|
17 |
#endif |
branches/colonetmk2/code/projects/hunter_prey/testbench/Makefile | ||
---|---|---|
1 |
CC = gcc |
|
2 |
CFLAGS = -Wall -g |
|
3 |
|
|
4 |
all: testbench |
|
5 |
|
|
6 |
testbench: *.c ../../libwireless/lib/*.c |
|
7 |
$(CC) $(CFLAGS) *.c -L../../libwireless/lib -o testbench -DWL_DEBUG -lwireless -lpthread -ggdb |
|
8 |
|
|
9 |
clean: |
|
10 |
rm -f *.o testbench ../lib/*.o |
|
11 |
|
branches/colonetmk2/code/projects/hunter_prey/main.c | ||
---|---|---|
1 |
#include <dragonfly_lib.h> |
|
2 |
#include <wireless.h> |
|
3 |
#include <wl_basic.h> |
|
4 |
#include "smart_run_around_fsm.h" |
|
5 |
#include "hunter_prey.h" |
|
6 |
|
|
7 |
#define CHAN 0xF |
|
8 |
#define TAG_PAUSE 2000 |
|
9 |
|
|
10 |
#define ROBOT_HUNTER 0 |
|
11 |
#define ROBOT_PREY 1 |
|
12 |
#define ROBOT_TAGGED 2 |
|
13 |
|
|
14 |
void packet_receive(char type, int source, unsigned char* packet, int length); |
|
15 |
|
|
16 |
volatile uint8_t robotState = ROBOT_HUNTER; |
|
17 |
volatile uint8_t color1, color2; |
|
18 |
volatile uint8_t tagAck; |
|
19 |
volatile uint8_t tagger; |
|
20 |
uint8_t id; |
|
21 |
|
|
22 |
void test_bom(void) { |
|
23 |
int i; |
|
24 |
int val; |
|
25 |
|
|
26 |
while(1) { |
|
27 |
bom_refresh(BOM_ALL); |
|
28 |
|
|
29 |
for(i=0; i<16; i++) { |
|
30 |
val = bom_get(i); |
|
31 |
usb_puti(val); |
|
32 |
usb_putc(' '); |
|
33 |
} |
|
34 |
|
|
35 |
usb_puts("| "); |
|
36 |
|
|
37 |
usb_puti(range_read_distance (IR1)); |
|
38 |
usb_putc(' '); |
|
39 |
usb_puti(range_read_distance (IR2)); |
|
40 |
usb_putc(' '); |
|
41 |
usb_puti(range_read_distance (IR3)); |
|
42 |
usb_putc(' '); |
|
43 |
usb_puti(range_read_distance (IR4)); |
|
44 |
usb_putc(' '); |
|
45 |
usb_puti(range_read_distance (IR5)); |
|
46 |
|
|
47 |
usb_putc('\n'); |
|
48 |
delay_ms(500); |
|
49 |
} |
|
50 |
|
|
51 |
} |
|
52 |
|
|
53 |
void chase(uint8_t angle) { |
|
54 |
|
|
55 |
int omega = angle - 4; |
|
56 |
|
|
57 |
if(angle > 16) |
|
58 |
return; |
|
59 |
|
|
60 |
if(omega > 8) |
|
61 |
omega = omega - 16; |
|
62 |
|
|
63 |
omega *= 255/8; |
|
64 |
|
|
65 |
/* usb_puti(omega); */ |
|
66 |
/* usb_putc('\n'); */ |
|
67 |
|
|
68 |
move(140, omega); |
|
69 |
|
|
70 |
} |
|
71 |
|
|
72 |
int main(void) { |
|
73 |
|
|
74 |
int frontRange; |
|
75 |
uint8_t angle; |
|
76 |
unsigned char packet[2]; |
|
77 |
|
|
78 |
//intialize the robot and wireless |
|
79 |
dragonfly_init(ALL_ON); |
|
80 |
|
|
81 |
// test_bom(); |
|
82 |
|
|
83 |
id = get_robotid(); |
|
84 |
packet[1] = id; |
|
85 |
usb_puts("hello, I am robot \n"); |
|
86 |
usb_puti(id); |
|
87 |
usb_putc('\n'); |
|
88 |
|
|
89 |
usb_puts("wireless.\n"); |
|
90 |
|
|
91 |
wl_basic_init(&packet_receive); |
|
92 |
|
|
93 |
usb_puts("run around.\n"); |
|
94 |
|
|
95 |
run_around_init(); |
|
96 |
|
|
97 |
usb_puts("channel\n"); |
|
98 |
|
|
99 |
//use a specific channel to avoid interfering with other tasks |
|
100 |
wl_set_channel(CHAN); |
|
101 |
|
|
102 |
usb_puts("orb set\n"); |
|
103 |
|
|
104 |
orb_set_color(BLUE); |
|
105 |
color1 = BLUE; |
|
106 |
color2 = BLUE; |
|
107 |
|
|
108 |
//if button 2 is held, you are prey |
|
109 |
if(button2_read()) { |
|
110 |
robotState = ROBOT_PREY; |
|
111 |
bom_on(); |
|
112 |
} |
|
113 |
|
|
114 |
|
|
115 |
while(1) { |
|
116 |
|
|
117 |
if(robotState==ROBOT_TAGGED) { |
|
118 |
usb_puts("tagged, waiting to send ACK\n"); |
|
119 |
delay_ms(TAG_PAUSE); |
|
120 |
move(0,0); |
|
121 |
usb_puts("sending ACK to "); |
|
122 |
usb_puti(tagger); |
|
123 |
usb_putc('\n'); |
|
124 |
packet[0] = HUNTER_PREY_ACTION_ACK; |
|
125 |
packet[1] = tagger; |
|
126 |
wl_basic_send_global_packet (0, &packet, 2); |
|
127 |
usb_puts("sent\n"); |
|
128 |
robotState = ROBOT_HUNTER; //no longer prey |
|
129 |
} |
|
130 |
|
|
131 |
else if(robotState == ROBOT_PREY) { |
|
132 |
run_around_FSM(); |
|
133 |
} |
|
134 |
|
|
135 |
else { //ROBOT_HUNTER |
|
136 |
|
|
137 |
bom_refresh(BOM_ALL); |
|
138 |
|
|
139 |
delay_ms(100); |
|
140 |
|
|
141 |
frontRange = range_read_distance (IR2); |
|
142 |
|
|
143 |
/* usb_puti(frontRange); */ |
|
144 |
/* usb_putc(','); */ |
|
145 |
|
|
146 |
//BUG: when get_max_bom is called, the rangefinder seems to stop |
|
147 |
//working |
|
148 |
angle = bom_get_max(); |
|
149 |
/* usb_puti(angle); */ |
|
150 |
/* usb_putc('\n'); */ |
|
151 |
|
|
152 |
chase(angle); |
|
153 |
|
|
154 |
//debugging to determine tagging conditions |
|
155 |
if(angle < 7 && angle > 1) { |
|
156 |
if(color1 != RED) { |
|
157 |
color1 = RED; |
|
158 |
orb1_set_color(RED); |
|
159 |
} |
|
160 |
} |
|
161 |
else { |
|
162 |
if(color1 != BLUE) { |
|
163 |
color1 = BLUE; |
|
164 |
orb1_set_color(BLUE); |
|
165 |
} |
|
166 |
} |
|
167 |
|
|
168 |
|
|
169 |
usb_puti(frontRange); |
|
170 |
usb_putc('\n'); |
|
171 |
|
|
172 |
/* if(frontRange > 0 && frontRange < TAG_RANGE) { */ |
|
173 |
/* if(color2 != RED) { */ |
|
174 |
/* color2 = RED; */ |
|
175 |
/* orb2_set_color(RED); */ |
|
176 |
/* } */ |
|
177 |
/* } */ |
|
178 |
/* else { */ |
|
179 |
/* if(color2 != BLUE) { */ |
|
180 |
/* color2 = BLUE; */ |
|
181 |
/* orb2_set_color(BLUE); */ |
|
182 |
/* } */ |
|
183 |
/* } */ |
|
184 |
|
|
185 |
|
|
186 |
|
|
187 |
if(hunter_prey_tagged(angle, frontRange)) { |
|
188 |
orb_set_color(YELLOW); |
|
189 |
color1 = YELLOW; |
|
190 |
color2 = YELLOW; |
|
191 |
usb_puts("TAG!\n"); |
|
192 |
tagAck = 0; |
|
193 |
packet[0] = HUNTER_PREY_ACTION_TAG; |
|
194 |
packet[1] = id; |
|
195 |
wl_basic_send_global_packet (0, &packet, 2); |
|
196 |
move(0,0); |
|
197 |
while(!tagAck) |
|
198 |
wl_do(); |
|
199 |
|
|
200 |
if(tagAck == id) { //if the ack was for us |
|
201 |
usb_puts("ACK!\n"); |
|
202 |
|
|
203 |
move(-230,0); //back up to give the new prey some room |
|
204 |
delay_ms(TAG_PAUSE/2); |
|
205 |
move(0,0); |
|
206 |
|
|
207 |
robotState = ROBOT_PREY; |
|
208 |
bom_on(); |
|
209 |
} |
|
210 |
else { |
|
211 |
usb_puts("ACK failed!\n"); |
|
212 |
} |
|
213 |
} |
|
214 |
} |
|
215 |
|
|
216 |
wl_do(); |
|
217 |
} |
|
218 |
|
|
219 |
return 0; |
|
220 |
} |
|
221 |
|
|
222 |
void packet_receive(char type, int source, unsigned char* packet, int length) |
|
223 |
{ |
|
224 |
|
|
225 |
if(type==0 && length>=2){ |
|
226 |
if(packet[0] == HUNTER_PREY_ACTION_TAG) { |
|
227 |
if(robotState == ROBOT_PREY) { |
|
228 |
robotState = ROBOT_TAGGED; |
|
229 |
bom_off(); |
|
230 |
color1 = BLUE; |
|
231 |
color2 = BLUE; |
|
232 |
orb_set_color(BLUE); |
|
233 |
tagger = packet[1]; |
|
234 |
} |
|
235 |
else { |
|
236 |
usb_puts("tagged, but I'm not it!\n"); |
|
237 |
} |
|
238 |
} |
|
239 |
else if(packet[0] == HUNTER_PREY_ACTION_ACK && robotState == ROBOT_HUNTER) { |
|
240 |
tagAck = packet[1]; |
|
241 |
} |
|
242 |
else { |
|
243 |
usb_puts("got '"); |
|
244 |
usb_putc(packet[0]); |
|
245 |
usb_puti(packet[1]); |
|
246 |
usb_puts("'\n"); |
|
247 |
} |
|
248 |
} |
|
249 |
else { |
|
250 |
usb_puts("got unkown packet! type="); |
|
251 |
usb_puti(type); |
|
252 |
usb_puts(" length="); |
|
253 |
usb_puti(length); |
|
254 |
usb_putc('\n'); |
|
255 |
} |
|
256 |
} |
|
257 |
|
|
258 |
#define HP_BUF_IDX_ACTION 0 |
branches/colonetmk2/code/projects/hunter_prey/hunter_prey.c | ||
---|---|---|
1 |
#include "hunter_prey.h" |
|
2 |
#include <dragonfly_lib.h> |
|
3 |
|
|
4 |
#define TAG_TIME 3 |
|
5 |
#define TAG_RANGE 200 |
|
6 |
|
|
7 |
/**** This file should not be edited! ****/ |
|
8 |
|
|
9 |
|
|
10 |
/* |
|
11 |
* The criteria for tagging are the following: |
|
12 |
* * The max bom is betweed 1 and 7 |
|
13 |
* * The front rangefinder reads less than TAG_RANGE |
|
14 |
* * -1 values from the rangefinder are ignored |
|
15 |
* * These conditions are met across TAG_TIME calls to this function |
|
16 |
*/ |
|
17 |
|
|
18 |
uint8_t hunter_prey_tagged(int max_bom, int frontRange) { |
|
19 |
|
|
20 |
static int onTarget = 0; |
|
21 |
|
|
22 |
if(max_bom < 7 && max_bom > 1 && frontRange > 0 && frontRange < TAG_RANGE) { |
|
23 |
if(onTarget == 0) { |
|
24 |
onTarget = TAG_TIME; |
|
25 |
usb_puts("On target!\n"); |
|
26 |
} |
|
27 |
else { |
|
28 |
if(--onTarget <= 0) { |
|
29 |
onTarget = 0; |
|
30 |
usb_puts("TAG!\n"); |
|
31 |
return 1; |
|
32 |
} |
|
33 |
} |
|
34 |
} |
|
35 |
else{ |
|
36 |
//don't reset onTarget because the robot got too close |
|
37 |
if(frontRange > 0) |
|
38 |
onTarget = 0; |
|
39 |
} |
|
40 |
|
|
41 |
return 0; |
|
42 |
|
|
43 |
} |
branches/colonetmk2/code/projects/hunter_prey/smart_run_around_fsm.c | ||
---|---|---|
1 |
#include <dragonfly_lib.h> |
|
2 |
#include "smart_run_around_fsm.h" |
|
3 |
|
|
4 |
void run_around_init(void) |
|
5 |
{ |
|
6 |
range_init(); |
|
7 |
orb_init(); |
|
8 |
|
|
9 |
state = SRA_FORWARD; // start out moving forward |
|
10 |
// initialize rangefinder values to 0 |
|
11 |
d1 = 0, d2 = 0, d3 = 0, d4 = 0, d5 = 0; |
|
12 |
} |
|
13 |
|
|
14 |
/* evaluate rangefinder input and update state |
|
15 |
* call this function as often as possible to avoid collisions |
|
16 |
*/ |
|
17 |
void run_around_FSM(void) |
|
18 |
{ |
|
19 |
/* TODO: find a better way to handle rangefinder input |
|
20 |
* robot should deal with -1s (obstacles too close or too far to detect) |
|
21 |
* in a way that keeps it from crashing or driving in circles |
|
22 |
*/ |
|
23 |
// do not update distances when rangefinders return -1 |
|
24 |
// otherwise update distances with new rangefinder values |
|
25 |
int16_t temp; |
|
26 |
|
|
27 |
temp = range_read_distance(IR1); |
|
28 |
d1 = (temp == -1) ? d1 : temp; |
|
29 |
|
|
30 |
temp = range_read_distance(IR2); |
|
31 |
d2 = (temp == -1) ? d2 : temp; |
|
32 |
|
|
33 |
temp = range_read_distance(IR3); |
|
34 |
d3 = (temp == -1) ? d3 : temp; |
|
35 |
|
|
36 |
temp = range_read_distance(IR4); |
|
37 |
d4 = (temp == -1) ? d4 : temp; |
|
38 |
|
|
39 |
temp = range_read_distance(IR5); |
|
40 |
d5 = (temp == -1) ? d5 : temp; |
|
41 |
|
|
42 |
// update state based on rangefinder input |
|
43 |
if (d2 < IR2_DANGER) // avoid frontal collision by turning in place |
|
44 |
state = SRA_SPIN; |
|
45 |
/* nowhere to turn, so don't |
|
46 |
* will probably need to turn around soon, but not yet |
|
47 |
*/ |
|
48 |
else if (d1 < IR13_DANGER && d3 < IR13_DANGER) |
|
49 |
state = SRA_FORWARD; |
|
50 |
// avoid left-side collision by turning right |
|
51 |
else if (d1 < IR13_DANGER || d5 < IR45_DANGER) |
|
52 |
state = SRA_RIGHT; |
|
53 |
// avoid right-side collision by turning left |
|
54 |
else if (d3 < IR13_DANGER || d4 < IR45_DANGER) |
|
55 |
state = SRA_LEFT; |
|
56 |
else if (d2 < IR2_INTEREST) // should turn to avoid obstacle up ahead |
|
57 |
{ |
|
58 |
if (d3 >= d1) // more room on right |
|
59 |
state = SRA_RIGHT; |
|
60 |
else // more room on left |
|
61 |
state = SRA_LEFT; |
|
62 |
} |
|
63 |
else // no obstacles close by, so keep going straight |
|
64 |
state = SRA_FORWARD; |
|
65 |
|
|
66 |
/* Debugging via USB output */ |
|
67 |
/* usb_puts("IR1: "); */ |
|
68 |
/* usb_puti(d1); */ |
|
69 |
/* usb_puts(" IR2: "); */ |
|
70 |
/* usb_puti(d2); */ |
|
71 |
/* usb_puts(" IR3: "); */ |
|
72 |
/* usb_puti(d3); */ |
|
73 |
/* usb_puts(" IR4: "); */ |
|
74 |
/* usb_puti(d4); */ |
|
75 |
/* usb_puts(" IR5: "); */ |
|
76 |
/* usb_puti(d5); */ |
|
77 |
/* usb_puts("\n\r"); */ |
|
78 |
|
|
79 |
evaluate_state(); // take action on updated state |
|
80 |
} |
|
81 |
|
|
82 |
// behave according to current state |
|
83 |
// TODO: adjust speeds after testing |
|
84 |
void evaluate_state(void) |
|
85 |
{ |
|
86 |
switch (state) |
|
87 |
{ |
|
88 |
case SRA_FORWARD: |
|
89 |
orb_set_color(GREEN); |
|
90 |
move(FULL_SPD, 0); // drive straight forward |
|
91 |
break; |
|
92 |
case SRA_LEFT: |
|
93 |
orbs_set_color(GREEN, YELLOW); // green on left side |
|
94 |
move(HALF_SPD, NRML_TURN); // drive forward and to the left |
|
95 |
break; |
|
96 |
case SRA_RIGHT: |
|
97 |
orbs_set_color(YELLOW, GREEN); // green on right side |
|
98 |
move(HALF_SPD, -NRML_TURN); // drive forward and to the right |
|
99 |
break; |
|
100 |
case SRA_SPIN: |
|
101 |
orb_set_color(RED); |
|
102 |
move(0, NRML_TURN); // spin CCW without traveling |
|
103 |
break; |
|
104 |
default: // should never reach this |
|
105 |
orb_set_color(PURPLE); |
|
106 |
move(0, 0); // stop completely |
|
107 |
} |
|
108 |
} |
|
109 |
|
|
110 | 0 |
branches/colonetmk2/code/projects/hunter_prey/hunter_prey.h | ||
---|---|---|
1 |
#ifndef _HUNTER_PREY_H |
|
2 |
#define _HUNTER_PREY_H |
|
3 |
|
|
4 |
#include <inttypes.h> |
|
5 |
|
|
6 |
/* |
|
7 |
* The packet structure is 2 bytes |
|
8 |
* byte 0 is the action, which is one of the values below |
|
9 |
* byte 1 is the robot id |
|
10 |
*/ |
|
11 |
|
|
12 |
#define HUNTER_PREY_ACTION_TAG 'T' |
|
13 |
#define HUNTER_PREY_ACTION_ACK 'A' |
|
14 |
|
|
15 |
uint8_t hunter_prey_tagged(int max_bom, int front_rangefinder); |
|
16 |
|
|
17 |
#endif |
branches/colonetmk2/code/projects/test/test_tokenring.c | ||
---|---|---|
1 |
#include <dragonfly_lib.h> |
|
2 |
#include <wireless.h> |
|
3 |
#include <wl_token_ring.h> |
|
4 |
|
|
5 |
|
|
6 |
/** |
|
7 |
* Tests the token ring and BOM |
|
8 |
* - prints table of bom values for every robot in token ring |
|
9 |
* - takes several seconds to initialize token ring |
|
10 |
*/ |
|
11 |
|
|
12 |
#define MAX_ROBOTS 16 |
|
13 |
|
|
14 |
// set a list of integers to 0 |
|
15 |
void clearRobots(int* list) { |
|
16 |
for(int i=0;i<MAX_ROBOTS;i++) |
|
17 |
list[i] = 0; |
|
18 |
} |
|
19 |
|
|
20 |
int testtokenring(void) { |
|
21 |
usb_init(); |
|
22 |
usb_puts("usb turned on\r\n"); |
|
23 |
wl_init(); |
|
24 |
usb_puts("wireless turned on\r\n"); |
|
25 |
wl_token_ring_register(); |
|
26 |
wl_token_ring_join(); // join token ring |
|
27 |
usb_puts("token ring joined\r\n"); |
|
28 |
int* robotList = (int*)malloc(sizeof(int)*MAX_ROBOTS); |
|
29 |
int numRobots = 0; |
|
30 |
delay_ms(1000); |
|
31 |
|
|
32 |
// start testing wireless/token ring/BOM |
|
33 |
int i=0; |
|
34 |
while(1) { |
|
35 |
wl_do(); |
|
36 |
// only print table every 200 loops |
|
37 |
if (i%200==0) { |
|
38 |
// get token ring size values |
|
39 |
usb_puts("\r\nnumber of robots in token ring:"); |
|
40 |
usb_puti(wl_token_get_robots_in_ring()); |
|
41 |
usb_puts("\r\nnumber of robots in matrix:"); |
|
42 |
usb_puti(wl_token_get_num_robots()); |
|
43 |
|
|
44 |
// get list of robots |
|
45 |
numRobots = 0; |
|
46 |
clearRobots(robotList); |
|
47 |
wl_token_iterator_begin(); |
|
48 |
while(wl_token_iterator_has_next()) { |
|
49 |
int tmp = wl_token_iterator_next(); |
|
50 |
if (tmp < 0) |
|
51 |
break; |
|
52 |
robotList[tmp] = 1; |
|
53 |
numRobots++; |
|
54 |
} |
|
55 |
if (numRobots < 1) { |
|
56 |
usb_puts("\r\nNo BOM table available."); |
|
57 |
continue; // skip table printing |
|
58 |
} else { |
|
59 |
usb_puts("\r\nBOM table: (* indicates this robot)"); |
|
60 |
} |
|
61 |
|
|
62 |
// print table of bom readings between robots |
|
63 |
usb_puts("\r\ns \\ d"); |
|
64 |
// print header |
|
65 |
for(int j=0;j<MAX_ROBOTS;j++) |
|
66 |
if (robotList[j]) { |
|
67 |
usb_puts("\t|"); |
|
68 |
if (j == wl_get_xbee_id()) |
|
69 |
usb_puts("*"); // indicate that this is the current bot |
|
70 |
usb_puti(j); |
|
71 |
} |
|
72 |
usb_puts("\r\n"); |
|
73 |
// print body |
|
74 |
for(int l=0;l<MAX_ROBOTS;l++) |
|
75 |
if (robotList[l]) { |
|
76 |
if (l == wl_get_xbee_id()) |
|
77 |
usb_puts("*"); // indicate that this is the current bot |
|
78 |
usb_puti(l); // print label col |
|
79 |
for(int k=0;k<MAX_ROBOTS;k++) |
|
80 |
if (robotList[k]) { |
|
81 |
usb_puts("\t|"); |
|
82 |
if (k != l) { |
|
83 |
int bom = wl_token_get_sensor_reading(l,k); |
|
84 |
if (bom >= 0 && bom <= 15) |
|
85 |
usb_puti(bom); // print bom value |
|
86 |
} |
|
87 |
} |
|
88 |
usb_puts("\r\n"); |
|
89 |
} |
|
90 |
usb_puts("\r\n"); |
|
91 |
} |
|
92 |
} |
|
93 |
|
|
94 |
// end testing token ring and bom |
|
95 |
return 0; |
|
96 |
} |
|
97 |
|
|
98 |
|
|
99 | 0 |
branches/colonetmk2/code/projects/test/test_analog.c | ||
---|---|---|
1 |
#include <dragonfly_lib.h> |
|
2 |
|
|
3 |
/* |
|
4 |
* This function outputs to TeraTerm a table which displays the values currently |
|
5 |
* stored in the analog table |
|
6 |
*/ |
|
7 |
|
|
8 |
int testanalog(void) { |
|
9 |
|
|
10 |
|
|
11 |
usb_init(); |
|
12 |
usb_puts("usb turned on\r\n"); |
|
13 |
|
|
14 |
range_init(); |
|
15 |
usb_puts("rangefinders initialized\r\n"); |
|
16 |
|
|
17 |
usb_puts("\r\n\n"); |
|
18 |
delay_ms(1000); |
|
19 |
|
|
20 |
while (1) { |
|
21 |
|
|
22 |
for (int i = 0; i < 20; i++) { |
|
23 |
|
|
24 |
usb_puts("\r\n"); |
|
25 |
|
|
26 |
} |
|
27 |
|
|
28 |
usb_puts("port# |\tvalue\r\n"); |
|
29 |
|
|
30 |
for (int j = 1; j < 16; j++) { |
|
31 |
|
|
32 |
usb_puti(j); |
|
33 |
usb_puts("\t"); |
|
34 |
usb_puti(analog10(j)); |
|
35 |
usb_puts("\r\n"); |
|
36 |
|
|
37 |
} |
|
38 |
|
|
39 |
delay_ms(575); |
|
40 |
|
|
41 |
} |
|
42 |
|
|
43 |
return 0; |
|
44 |
} |
|
45 | 0 |
branches/colonetmk2/code/projects/test/test_encoders.c | ||
---|---|---|
1 |
/** |
|
2 |
* @file encoders unit test |
|
3 |
*/ |
|
4 |
#include <dragonfly_lib.h> |
|
5 |
|
|
6 |
/** |
|
7 |
* @brief Test encoders by outputting values to usb |
|
8 |
* |
|
9 |
* @test Tester should start a program to read data from the robot via usb |
|
10 |
* (e.g. gtkterm). Turn on the robot on then turn each wheel manually. |
|
11 |
* Make sure the output on the screen makes sense. |
|
12 |
* Pressing button 1 resets total distance and time count |
|
13 |
* @pre Depends on serial and dio to work correctly |
|
14 |
*/ |
|
15 |
|
|
16 |
int testencoders(void) |
|
17 |
{ |
|
18 |
int encoder_left,encoder_right; |
|
19 |
int x_left, x_right; |
|
20 |
int v_left, v_right; |
|
21 |
int tc; |
|
22 |
while(1) { |
|
23 |
/* button1 is pressed */ |
|
24 |
if (button1_read()) { |
|
25 |
/* reset dx and tc */ |
|
26 |
encoder_rst_dx(LEFT); |
|
27 |
encoder_rst_dx(RIGHT); |
|
28 |
encoder_rst_tc(); |
|
29 |
} |
|
30 |
|
|
31 |
encoder_left = encoder_read(LEFT); |
|
32 |
encoder_right = encoder_read(RIGHT); |
|
33 |
usb_puts("Encoder values (left, right): "); |
|
34 |
usb_puti(encoder_left); |
|
35 |
usb_puts(", "); |
|
36 |
usb_puti(encoder_right); |
|
37 |
usb_puts("\n"); |
|
38 |
|
|
39 |
x_left = encoder_get_x(LEFT); |
Also available in: Unified diff