Revision 1469
Tried to get it to work to no avail. Various small changes.
smart_run_around_fsm.c | ||
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3 | 3 |
|
4 | 4 |
void run_around_init(void) |
5 | 5 |
{ |
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range_init(); |
|
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orb_init(); |
|
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//range_init();
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|
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//orb_init();
|
|
8 | 8 |
|
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state = SRA_FORWARD; // start out moving forward |
10 | 10 |
// initialize rangefinder values to 0 |
... | ... | |
86 | 86 |
switch (state) |
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{ |
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case SRA_FORWARD: |
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orb_set_color(GREEN); |
|
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//orb_set_color(GREEN);
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|
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move(220, 0); // drive straight forward |
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break; |
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case SRA_LEFT: |
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orbs_set_color(GREEN, YELLOW); // green on left side |
|
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//orbs_set_color(GREEN, YELLOW); // green on left side
|
|
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move(HALF_SPD, NRML_TURN); // drive forward and to the left |
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break; |
96 | 96 |
case SRA_RIGHT: |
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orbs_set_color(YELLOW, GREEN); // green on right side |
|
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//orbs_set_color(YELLOW, GREEN); // green on right side
|
|
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move(HALF_SPD, -NRML_TURN); // drive forward and to the right |
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break; |
100 | 100 |
case SRA_SPIN: |
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orb_set_color(RED); |
|
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//orb_set_color(RED);
|
|
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move(0, NRML_TURN); // spin CCW without traveling |
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break; |
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default: // should never reach this |
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orb_set_color(PURPLE); |
|
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//orb_set_color(PURPLE);
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|
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move(0, 0); // stop completely |
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} |
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} |
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