Revision 1596
Added comments and minor changes to circle.c
| circle.c | ||
|---|---|---|
| 191 | 191 |
int distance=1000; // how far away to stop. |
| 192 | 192 |
int onefoot=300, speed=200; // one foot is 490 for bot 1; one foot is 200 for bot6 |
| 193 | 193 |
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| 194 |
while(1) {
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switch(state) {
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| 194 |
while(1) |
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{
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switch(state) |
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{
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| 196 | 198 |
case 0: // EDGE |
| 197 | 199 |
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| 198 | 200 |
orb_set_color(GREEN); |
| ... | ... | |
| 210 | 212 |
} |
| 211 | 213 |
} |
| 212 | 214 |
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while(1){
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| 215 |
while(1) // wait for the center bot to count all the robots and send a "done" packet |
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{
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| 214 | 217 |
orb_set_color(RED); |
| 215 | 218 |
packet_data=wl_basic_do_default(&data_length); |
| 216 | 219 |
wl_basic_send_global_packet(42,send_buffer,2); |
| 217 |
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| 218 | 221 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE) |
| 219 | 222 |
{
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| 220 | 223 |
break; |
| ... | ... | |
| 248 | 251 |
break; |
| 249 | 252 |
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| 250 | 253 |
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| 254 |
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| 251 | 256 |
case 1: // BEACON |
| 252 | 257 |
switch(beacon_State) {
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| 253 |
case 0: |
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| 258 |
case 0: // wait for a button to be pressed, then go to state 1
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| 254 | 259 |
bom_on(); |
| 255 | 260 |
orb_set_color(PURPLE); |
| 256 | 261 |
if(button1_click()) beacon_State=1; |
| 257 | 262 |
break; |
| 258 |
case 1: |
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| 263 |
case 1: // sends a global exist packet to see how many robots there are
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| 259 | 264 |
send_buffer[0]=CIRCLE_ACTION_EXIST; |
| 260 | 265 |
send_buffer[1]=get_robotid(); |
| 261 | 266 |
wl_basic_send_global_packet(42,send_buffer,2); |
| 262 | 267 |
beacon_State=2; |
| 263 | 268 |
break; |
| 264 |
case 2: |
|
| 269 |
case 2: // find out how many robots there are
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| 265 | 270 |
orb_set_color(ORANGE); |
| 266 | 271 |
packet_data=wl_basic_do_default(&data_length); |
| 267 | 272 |
if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 268 | 273 |
{
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| 269 | 274 |
orb_set_color(WHITE); |
| 270 |
if(used[packet_data[1]]==0){//only add to robots seen if you haven't gotten an ACK from this robot
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if(used[packet_data[1]]==0){ //only add to robots seen if you haven't gotten an ACK from this robot
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| 271 | 276 |
robotsRecieved++; |
| 272 | 277 |
used[packet_data[1]]=1; |
| 273 | 278 |
} |
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