Colony

// smart_run_around_fsm.h

// required to run Smart Run Around functions

// declare functions and global variables

#ifndef _RUN_AROUND_FSM_H_

#define _RUN_AROUND_FSM_H_

// states (robot shall never move in reverse)

// these constants may be changed (but can't overlap) without effect

#define SRA_FORWARD 0   // drive straight forward

#define SRA_LEFT 1        // drive forward and to the left

#define SRA_RIGHT 2        // drive forward and to the right

#define SRA_SPIN 3        // turn without traveling (last resort if otherwise stuck)

/* conditions on rangefinders (in mm) informing state changes

 * distances are 50 greater than in real life, cannot be smaller than 100

 * naming format: SENSOR_URGENCY

 * changing these constants affects robot operation

 */

#define IR2_DANGER 150        // 10 cm: dangerously close to front

#define IR13_DANGER 200 // 15 cm: dangerously close to sides (looking ahead)

#define IR2_INTEREST 300    // 25 cm: notably close to front

#define IR45_DANGER 150        // dangerously close to side (looking sideways)

uint8_t state;        // current state of FSM: SRA_FORWARD, SRA_LEFT, SRA_RIGHT, SRA_SPIN

int16_t d1, d2, d3, d4, d5; // values returned by rangefinders

// initialize rangefinders and global variables

void run_around_init(void);

/* evaluate rangefinder input and update state

 * call this function as often as possible to avoid collisions

 */

void run_around_FSM(void);

// behave according to current state

void evaluate_state(void);

#endif