Revision 1552
Converted Circle formation to a state machine
| trunk/code/behaviors/formation_control/circle2/circle.c | ||
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| 1 | 1 |
#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include <encoders.h> |
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#include "circle.h" |
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int EDGE = 0; |
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int BEACON = 1; |
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/* |
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This program is used to make robots target a center (leader) robot using the BOM, |
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then drive toward it and stop at a certain distance away. |
| ... | ... | |
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With adjustment, the leader robot will be able to turn and use its standardized |
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rangefinder to reposition or space the robots evenly. |
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AuTHORS: Niko, Alex, Reva, Echo |
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AuTHORS: Niko, Alex, Reva, Echo, Steve
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*/ |
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|
| ... | ... | |
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go_straight(); |
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} |
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int main(void) |
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{
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/* Initialize dragonfly board */ |
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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/* Initialize the basic wireless library */ |
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wl_basic_init_default(); |
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/* Set the XBee channel to your assigned channel */ |
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wl_set_channel(12); |
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int robotid = get_robotid(); |
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char send_buffer[2]; |
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int data_length; |
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unsigned char *packet_data=wl_basic_do_default(&data_length); |
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int state = EDGE; |
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if(wheel()<100) |
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{
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state=EDGE; |
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} |
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else |
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{
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state=BEACON; |
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} |
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int distance=1000; // how far away to stop. |
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int onefoot=300, speed=200; // one foot is 490 for bot 1; one foot is 200 for bot6 |
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orient(); |
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forward(speed); |
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range_init(); |
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orb_set_color(YELLOW); |
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distance = get_distance(); |
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while (distance>=onefoot || distance==0){
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distance = get_distance(); |
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orient2(); |
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forward(speed); |
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delay_ms(14); |
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while(1) {
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switch(state) {
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case 0: // EDGE |
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orb_set_color(GREEN); |
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while(1) |
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{
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orb_set_color(YELLOW); |
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packet_data=wl_basic_do_default(&data_length); |
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if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_EXIST) |
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{
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send_buffer[0]=CIRCLE_ACTION_ACK; |
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send_buffer[1]=get_robotid(); |
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wl_basic_send_global_packet(42,send_buffer,2); |
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} |
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if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
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{
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break; |
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} |
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} |
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orb_set_color(GREEN); |
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orient(); |
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forward(speed); |
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range_init(); |
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orb_set_color(YELLOW); |
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distance = get_distance(); |
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while (distance>=onefoot || distance==0) |
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{
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distance = get_distance(); |
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orient2(); |
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forward(speed); |
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delay_ms(14); |
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} |
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stop(); |
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orient(); |
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//button1_wait (); // code for lab1. |
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//go_straight_onefoot(); |
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stop(); |
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break; |
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case 1: // BEACON |
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bom_on(); |
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orb_set_color(PURPLE); |
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int numrobots = 0; |
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while(!button1_click()) |
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{ }
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send_buffer[0]=CIRCLE_ACTION_EXIST; |
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send_buffer[1]=get_robotid(); |
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wl_basic_send_global_packet(42,send_buffer,2); |
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packet_data=wl_basic_do_default(&data_length); |
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while(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
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{
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// IF NEEDED: a good place to collect and store the robot id. |
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numrobots++; |
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} |
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send_buffer[0]=CIRCLE_ACTION_ACK; |
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wl_basic_send_global_packet(42,send_buffer,2); |
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break; |
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} |
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} |
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stop(); |
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orient(); |
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//button1_wait (); // code for lab1. |
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//go_straight_onefoot(); |
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stop(); |
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/* ****** CODE HERE ******* */ |
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orb_set_color(RED); |
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while(1); /* END HERE */ |
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return 0; |
| trunk/code/behaviors/formation_control/circle2/circle.h | ||
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| 1 |
#ifndef _CIRCLE_H |
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#define _CIRCLE_H |
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#include <inttypes.h> |
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/**** This file should not be edited! ****/ |
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/* |
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* The packet structure is 2 bytes |
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* byte 0 is the action, which is one of the values below |
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* byte 1 is the robot id |
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*/ |
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#define CIRCLE_ACTION_EXIST 'E' |
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#define CIRCLE_ACTION_POSITION 'P' |
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#define CIRCLE_ACTION_ACK 'A' |
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//#define EDGE 0; |
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//#define BEACON 1; |
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#endif |
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