Revision 1469
Tried to get it to work to no avail. Various small changes.
| 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