Revision 1501
Updated Hunter-Prey implementation. Motors didn't turn off during wait state. Fixed now.
| main.c | ||
|---|---|---|
| 190 | 190 |
send_buffer[1] = packet_data[1]; |
| 191 | 191 |
wl_basic_send_global_packet(42, send_buffer, 2); |
| 192 | 192 |
|
| 193 |
bom_off(); |
|
| 194 |
motors_off(); |
|
| 195 | 193 |
state = TOP_HUNTER_WAIT; |
| 196 | 194 |
} else {
|
| 197 | 195 |
/* If we haven't received a TAG yet, continue with prey FSM */ |
| ... | ... | |
| 202 | 200 |
case TOP_HUNTER_WAIT: |
| 203 | 201 |
/* Set orb colors and wait to give the prey the 5 second head start */ |
| 204 | 202 |
orbs_set_color(BLUE, BLUE); |
| 203 |
bom_off(); |
|
| 204 |
motors_off(); |
|
| 205 | 205 |
delay_ms(5000); |
| 206 | 206 |
state = TOP_HUNTER_HUNT; |
| 207 | 207 |
hunter_state = HUNTER_SPIRAL; |
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