root / trunk / code / behaviors / hunter_prey / john / hunter_prey.c @ 1486
History | View | Annotate | Download (905 Bytes)
| 1 | 1486 | jsexton | #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 | unsigned char 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 | } |