Revision 1469
Tried to get it to work to no avail. Various small changes.
| trunk/code/projects/hunter_prey/abenico/main.c | ||
|---|---|---|
| 4 | 4 |
#include "smart_run_around_fsm.h" |
| 5 | 5 |
#include "hunter_prey.h" |
| 6 | 6 |
|
| 7 |
#define CHAN 0xF
|
|
| 7 |
#define CHAN 0xC
|
|
| 8 | 8 |
#define ACK_PAUSE 5000 |
| 9 | 9 |
|
| 10 | 10 |
#define ROBOT_HUNTER 0 |
| ... | ... | |
| 82 | 82 |
|
| 83 | 83 |
id = get_robotid(); |
| 84 | 84 |
packet[1] = id; |
| 85 |
usb_puts("hello, I am robot \n");
|
|
| 85 |
usb_puts("hello, I am robot ");
|
|
| 86 | 86 |
usb_puti(id); |
| 87 | 87 |
usb_putc('\n');
|
| 88 | 88 |
|
| ... | ... | |
| 94 | 94 |
|
| 95 | 95 |
run_around_init(); |
| 96 | 96 |
|
| 97 |
usb_puts("channel\n");
|
|
| 97 |
usb_puts("channel");
|
|
| 98 | 98 |
|
| 99 | 99 |
//use a specific channel to avoid interfering with other tasks |
| 100 | 100 |
wl_set_channel(CHAN); |
| 101 | 101 |
usb_puti(CHAN); |
| 102 | 102 |
|
| 103 |
usb_puts("orb set\n");
|
|
| 103 |
usb_puts("\norb set");
|
|
| 104 | 104 |
|
| 105 | 105 |
// initially in hunter state |
| 106 | 106 |
robotState = ROBOT_HUNTER; |
| ... | ... | |
| 116 | 116 |
|
| 117 | 117 |
if(robotState==ROBOT_TAGGED) {
|
| 118 | 118 |
usb_puts("tagged, waiting to send ACK\n");
|
| 119 |
orb_set_color(YELLOW); |
|
| 119 | 120 |
//delay_ms(TAG_PAUSE); |
| 120 | 121 |
move(0,0); |
| 121 | 122 |
usb_puts("sending ACK to ");
|
| ... | ... | |
| 160 | 161 |
packet[0] = HUNTER_PREY_ACTION_TAG; |
| 161 | 162 |
packet[1] = id; |
| 162 | 163 |
wl_basic_send_global_packet (42, &packet, 2); |
| 164 |
wl_do(); |
|
| 163 | 165 |
rtc_reset(); |
| 164 | 166 |
} |
| 165 | 167 |
} |
| ... | ... | |
| 177 | 179 |
|
| 178 | 180 |
if(length>=2){
|
| 179 | 181 |
if(packet[0] == HUNTER_PREY_ACTION_TAG) {
|
| 182 |
usb_puts("received a tag packet\n");
|
|
| 180 | 183 |
if(robotState == ROBOT_PREY) {
|
| 184 |
usb_puts("it was for me\n");
|
|
| 181 | 185 |
robotState = ROBOT_TAGGED; |
| 182 | 186 |
bom_off(); |
| 183 | 187 |
tagger = packet[1]; |
| ... | ... | |
| 186 | 190 |
usb_puts("tagged, but I'm not it!\n");
|
| 187 | 191 |
} |
| 188 | 192 |
} |
| 189 |
else if(packet[0] == HUNTER_PREY_ACTION_ACK && robotState == ROBOT_HUNTER) {
|
|
| 193 |
else if(packet[0] == HUNTER_PREY_ACTION_ACK) {
|
|
| 190 | 194 |
robotState = ROBOT_IDLE; |
| 191 | 195 |
} |
| 192 | 196 |
usb_puts("got '");
|
| trunk/code/projects/hunter_prey/abenico/smart_run_around_fsm.c | ||
|---|---|---|
| 3 | 3 |
|
| 4 | 4 |
void run_around_init(void) |
| 5 | 5 |
{
|
| 6 |
range_init(); |
|
| 7 |
orb_init(); |
|
| 6 |
//range_init();
|
|
| 7 |
//orb_init();
|
|
| 8 | 8 |
|
| 9 | 9 |
state = SRA_FORWARD; // start out moving forward |
| 10 | 10 |
// initialize rangefinder values to 0 |
| ... | ... | |
| 86 | 86 |
switch (state) |
| 87 | 87 |
{
|
| 88 | 88 |
case SRA_FORWARD: |
| 89 |
orb_set_color(GREEN); |
|
| 89 |
//orb_set_color(GREEN);
|
|
| 90 | 90 |
move(220, 0); // drive straight forward |
| 91 | 91 |
break; |
| 92 | 92 |
case SRA_LEFT: |
| 93 |
orbs_set_color(GREEN, YELLOW); // green on left side |
|
| 93 |
//orbs_set_color(GREEN, YELLOW); // green on left side
|
|
| 94 | 94 |
move(HALF_SPD, NRML_TURN); // drive forward and to the left |
| 95 | 95 |
break; |
| 96 | 96 |
case SRA_RIGHT: |
| 97 |
orbs_set_color(YELLOW, GREEN); // green on right side |
|
| 97 |
//orbs_set_color(YELLOW, GREEN); // green on right side
|
|
| 98 | 98 |
move(HALF_SPD, -NRML_TURN); // drive forward and to the right |
| 99 | 99 |
break; |
| 100 | 100 |
case SRA_SPIN: |
| 101 |
orb_set_color(RED); |
|
| 101 |
//orb_set_color(RED);
|
|
| 102 | 102 |
move(0, NRML_TURN); // spin CCW without traveling |
| 103 | 103 |
break; |
| 104 | 104 |
default: // should never reach this |
| 105 |
orb_set_color(PURPLE); |
|
| 105 |
//orb_set_color(PURPLE);
|
|
| 106 | 106 |
move(0, 0); // stop completely |
| 107 | 107 |
} |
| 108 | 108 |
} |
Also available in: Unified diff