root / trunk / code / behaviors / formation_control / circle / circle.c @ 1808
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/*** PROGRAM INFORMATION ***
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This program assembles a group of robots into a circle and allows the
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movement within that formation. Robots should be able to break formation and
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travel as a line, readjust in the face of obstacles, and reform if conditions
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are necessary.
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The program begins waiting for a button press. When pressed, a robot assumes
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the BEACON position, which means that it is the robot in the center of the
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circle and therefore in charge. It then gathers robots around it by sending
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them commands. This code is executed using two finite state machines, nested
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inside one another.
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One controls the overall state of the robot (whether it is a BEACON, an EDGE,
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or WAITING, for example).
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This code should be implemented so that most useful functions are built in
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to the machine. For example, the BEACON robot should be able to call methods
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such as CircleUp() to gather robots around it, and Move(distance) to move the
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circle group all at once.
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This Code is the property of the Carnegie Mellon Robotics Club and is being
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used to test formation control in a low-cost robot colony. Thanks to all
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members of RoboClub, especially Colony president John Sexton and graduade
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student representative Chris Mar.
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AUTHORS: James Carroll, Steve DeVincentis, Hanzhang (Echo) Hu, Nico Paris,
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Joel Rey, Reva Street, Alex Zirbel
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*/
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#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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/*** TODO: ***
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-Transform the code into a method-based state machine that uses the
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procedural state machines, which are hardcoded and hard to edit, as a backup.
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-Implement a drive straight method for use in keeping the robots more
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accurate as a group.
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-Fix the approach method: good robots usually work well, but bad robots often
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have errors which might be avoidable with the use of error checking.
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-Make robots more robust: packages are often lost, which throws the entire
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procedural nature of the program off.
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-Consider using the center bot to check distances
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-More testing is always good and necessary.
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*/
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/*** BOT LOG ***
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4-1-2010: BOT 7 as BEACON and BOT 1 as EDGE worked extremely well.
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4-2-2010: BOT 7 and BOT 14 worked extremely well, no matter states. BOT 1
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started well, but malfunctioned later.
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*/
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/*** TERMINOLOGY ***
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WAITINGSTATE:
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The robot waits to be given a signal to do something. Wireless is on,
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in case the robot is called on to turn into an EDGE. The color should be LIME
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or YELLOW-GREEN.
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BEACON_CONTROL:
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The code that executes commands when a robot is turned to BEACON mode. This
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code may run predefined methods for simplicity. One goal is to make these
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methods change the robot turn to to BEACON_MACHINE mode for a while, and then
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return to the CONTROL code where they left off.
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EDGE_CONTROL:
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Like BEACON_CONTROL, executes whatever orders are required of the robot as an
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EDGE.
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BEACON_MACHINE:
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A hardcoded list of functions which the robot is capable of running through.
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Consists of a finite state machine, where the robot executes a set of commands
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in a procedural manner and then returns to wherever it was in the control code.
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EDGE_MACHINE:
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Like the BEACON_MACHINE, but contains the same sort of procedural information
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for EDGE robots.
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END:
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A terminal state of the machine, where the robot just sits and waits. The
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color should be GREEN and WHITE.
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TYPES OF WIRELESS PACKETS:
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CIRCLE_ACTION_EXIST 'E'
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CIRCLE_ACTION_POSITION 'P'
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CIRCLE_ACTION_ACK 'A'
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A general acknowledgement package.
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CIRCLE_ACTION_DONE 'D'
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Used by robots to tell when they have finished their action.
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CIRCLE_ACTION_GOTYOU 'G'
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Used by the BEACON to tell a robot when it has been checked off.
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At this point, the EDGE has been recognized. Used for times when
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all EDGE robots have to communicate to the center via the spam method.
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CIRCLE_ACTION_FORWARD 'F'
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The BEACON tells the rest of the robots to move forward.
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CIRCLE_CLAIM_CENTER 'C'
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Sent out by a robot when it takes over as BEACON.
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*/
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/* Define some variables to keep track of the state machine.*/
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int END = 100; |
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int WAITINGSTATE = 0; |
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int EDGE_CONTROL = 1; |
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int BEACON_CONTROL = 2; |
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int EDGE_MACHINE = 3; |
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int BEACON_MACHINE = 4; |
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int COUNT = 0; |
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int CIRCLEUP = 1; |
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int ORIENT = 2; |
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int DRIVE = 3; |
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int TURNL = 4; |
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int TURNR = 5; |
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int currentPos = 0; |
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int state = 0; |
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// keep track of the speed and duration of group movements.
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int speed = 20; |
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int duration = 2; |
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int timeout = 0; |
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int sending = 0; |
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int stop2 = 0; |
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struct vector slave_position;
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int desired_max_bom;
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int bom_max_counter;
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void switch_sending(void) |
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{ |
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if(sending)
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{ |
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sending = 0;
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bom_off(); |
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} |
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else
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{ |
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sending = 1;
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bom_on(); |
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} |
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} |
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// set the motors to this forward speed.
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void forward(int speed) |
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{ |
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motor_l_set(FORWARD,speed); |
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motor_r_set(FORWARD,speed); |
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} |
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// turn left at this speed.
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void left(int speed) |
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{ |
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motor_l_set(BACKWARD,speed); |
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motor_r_set(FORWARD,speed); |
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} |
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void right(int speed) |
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{ |
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motor_l_set(FORWARD,speed); |
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motor_r_set(BACKWARD,speed); |
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} |
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// stop() is better than motors_off(), which creates a slight delay when
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// reactivating the motors. Stop() is faster.
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void stop(void) |
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{ |
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motor_l_set(BACKWARD,0);
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motor_r_set(FORWARD,0);
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} |
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void setforward(int spd1, int spd2) |
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{ |
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motor_l_set(FORWARD,spd1); |
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motor_r_set(FORWARD,spd2); |
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} |
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void backward(int speed) |
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{ |
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motor_l_set(BACKWARD, speed); |
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motor_r_set(BACKWARD, speed); |
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} |
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// takes an averaged reading of the front rangefinder
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int get_distance(void) |
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{ |
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// kk sets this to 5 readings.
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int temp,distance,kk=5; |
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distance =0;
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for (int i=0; i<kk; i++) |
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{ |
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temp = range_read_distance(IR2); |
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if (temp == -1) |
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{ |
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//temp=0;
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i--; |
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} |
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else
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distance+= temp; |
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delay_ms(3);
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} |
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if (kk>0) |
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return (int)(distance/kk); |
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else
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return 0; |
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} |
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/* Sends a global packet with two arguments */
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void send2(char arg0, char arg1) |
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{ |
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char send_buffer[2]; |
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send_buffer[0]=arg0;
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send_buffer[1]=arg1;
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wl_basic_send_global_packet(42,send_buffer,2); |
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} |
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/* Sends a global packet with three arguments */
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void send3(char arg0, char arg1, char arg2) |
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{ |
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char send_buffer[3]; |
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send_buffer[0]=arg0;
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send_buffer[1]=arg1;
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send_buffer[2]=arg2;
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wl_basic_send_global_packet(42,send_buffer,3); |
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} |
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/*
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Orients the robot so that it is facing the beacon (or the broadcasting BOM).
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*/
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void faceFront(void) |
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{ |
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int counter = 0; |
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int currentDir = 0; |
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left(200);
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int bomNum = -1; |
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orb1_set_color(BLUE); |
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while(bomNum != 4) |
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{ |
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if(counter >= 5) |
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{ |
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forward(200);
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delay_ms(750);
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counter = 0;
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} |
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bom_refresh(BOM_ALL); |
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bomNum = bom_get_max(); |
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if(bomNum == -1) |
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{ |
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//ignore
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} |
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else if((bomNum < 4) || (bomNum >= 12)) |
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{ |
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right(200);
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if(currentDir == 0) |
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counter++; |
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currentDir = 1;
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} |
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else
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{ |
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left(200);
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if(currentDir == 1) |
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counter++; |
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currentDir = 0;
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} |
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} |
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stop(); |
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return;
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} |
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/*
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Turns the robot slowly to the right until it reaches the BOM reading goal.
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More stable code than what was implemented ealier, with smart turning,
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but slower.
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*/
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void aboutFace(int goal) |
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{ |
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int bomNum = -1; |
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int speed = 170; // speed with which to turn |
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orb1_set_color(BLUE); // BLUE and PURPLE
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while(bomNum != goal)
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{ |
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// bomNum is the current maximum reading
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bom_refresh(BOM_ALL); |
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bomNum = bom_get_max(); |
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right(speed); |
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} |
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stop(); |
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return;
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} |
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/*
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BLINK the given number times
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*/
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void blink(int num) |
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{ |
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for(int i = 0; i<num; i++) |
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{ |
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orb_set_color(ORB_OFF); |
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delay_ms(150);
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orb_set_color(RED); |
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delay_ms(50);
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} |
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orb_set_color(ORB_OFF); |
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} |
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/*
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BLINK slowly the given number times
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*/
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void slowblink(int num) |
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{ |
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for(int i = 0; i<num; i++) |
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{ |
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orb_set_color(ORB_OFF); |
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delay_ms(300);
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orb_set_color(RED); |
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delay_ms(200);
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} |
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orb_set_color(ORB_OFF); |
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} |
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/*
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A method for the higher-level code for the BEACON. The beacon can make
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any of the preprogrammed commands, and this code sends the packet and
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transitions the robots correctly.
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*/
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void order(int action) |
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{ |
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currentPos++; |
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send2(CIRCLE_EXECUTE, action); |
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state = 20 + action;
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} |
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/*
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A method for the higher-level code for the BEACON. The beacond sends
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not only the command, but also the speed and duration for which the
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(movement) command is to be executed.
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*/
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void orderMove(int action, int newSpeed, int newDuration) |
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{ |
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currentPos++; |
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speed = newSpeed; |
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duration = newDuration; |
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send2(CIRCLE_EXECUTE, action); |
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state = 20 + action;
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} |
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/*
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Turns off the motors, sends an EXECUTE packet, and blinks green and white
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forever.
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*/
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void terminate(void) |
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{ |
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motors_off(); |
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send2(CIRCLE_EXECUTE, 100);
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orb_set_color(GREEN); |
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orb2_set_color(WHITE); |
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while(1) ; |
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} |
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//******************************************************************************
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//******************************************************************************
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//******************************************************************************
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/*
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A state machine with five states. The robot starts out in WAITINGSTATE mode,
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from which it recieves a signal of some sort and moves to a different state.
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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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/* Initialize the basic wireless library */
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wl_basic_init_default(); |
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/* Set the XBee channel to 24 - must be standard among robots */
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wl_set_channel(24);
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int robotid = get_robotid();
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// once the EDGE gets the first signal from a center, it stores who the // center is.
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int centerid = 0; |
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// stores a list of bots which are in the group by storing a "1" in the
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// array if the robot of that index is in the group.
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int used[17]; |
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int numOk;
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// initially, no robots in the group.
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for (int i=0; i<17; i++) |
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used[i] = 0;
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// keeps track of the length of wireless packets received.
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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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// these variables keep track of the inner state machines in the
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// procedural MACHINE states.
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int beacon_State=0; |
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int edge_State=0; |
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int waitingCounter=0; |
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// an important variable that stores the size of the group.
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int robotsReceived=0; |
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// offset for the approaching: how far off the rangefinders can be
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int offset = 20; |
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int time=0; |
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// keeps track of which way robots are facing relative to the center
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int direction = 4; |
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// how far away the robot is. Initialized to a large value to ensure
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// that the robot doesn't think it is already the right distance away.
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int distance=1000; |
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int onefoot = 250; // how far away to stop. |
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while(1) |
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{ |
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bom_refresh(BOM_ALL); |
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/***EXPECTED MOVES***
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(OUT OF DATE. Will be updated once changes have been made.)
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The designed movement:
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1. one center robot, several edge robots are on;
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2. center robots: button 1 is pressed;
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3. center robots: send global package telling edges that he exists;
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4. EDGE robots response with ACK.
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5. EDGE robots wait for center robots to finish counting (DONE package)
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6. EDGE robtos approach the center robtot and stop at the "onefoot"
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distance, send message to the center
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*/
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/*
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This is the MAIN SWITCH LOOP, which governs the overall
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status of the robot.
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*/
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switch(state)
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{ |
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/*
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The WAITINGSTATE. This state constantly checks for wireless
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packets,
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and updates its state as soon as it receives a signal.
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*/
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case 0: |
461 |
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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 |
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&& packet_data[0]==CIRCLE_CLAIM_CENTER)
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{ |
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centerid = packet_data[1];
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state = 1;
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} |
470 |
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if(button1_read())
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{ |
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// becomes the center if button1 is clicked.
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send2(CIRCLE_CLAIM_CENTER, robotid); |
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state = 2;
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} |
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break;
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479 |
|
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|
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//******************************************************************************
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482 |
//******************************************************************************
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483 |
|
484 |
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485 |
/*
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The CONTROL for the EDGE state. This sets a certain procedure
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to follow, in the form of simple
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commands, for a robot to follow if it is set to an EDGE.
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*/
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case 1: |
492 |
orb_set_color(CYAN); |
493 |
orb1_set_color(YELLOW); |
494 |
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int command = -1; |
496 |
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packet_data=wl_basic_do_default(&data_length); |
498 |
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499 |
if(packet_data != 0 && data_length>=2 && |
500 |
packet_data[0]==CIRCLE_EXECUTE)
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{ |
502 |
command = packet_data[1];
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503 |
} |
504 |
|
505 |
if(command != -1) |
506 |
{ |
507 |
edge_State = 0;
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switch(command)
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{ |
510 |
case 0: |
511 |
state = 10; break; |
512 |
|
513 |
case 1: |
514 |
state = 11; break; |
515 |
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516 |
case 2: |
517 |
state = 12; break; |
518 |
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case 3: |
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state = 13; break; |
521 |
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522 |
case 4: |
523 |
state = 14; break; |
524 |
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case 5: |
526 |
state = 15; break; |
527 |
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528 |
case 100: |
529 |
terminate(); break;
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530 |
} |
531 |
} |
532 |
|
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break;
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534 |
|
535 |
|
536 |
|
537 |
//******************************************************************************
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538 |
//******************************************************************************
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539 |
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540 |
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541 |
/*
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542 |
The CONTROL for the BEACON state. This sets a certain procedure
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to follow, in the form of simple commands, for a robot to follow
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if it is set to a BEACON.
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*/
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case 2: |
547 |
orb_set_color(PURPLE); |
548 |
beacon_State = 0;
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|
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switch(currentPos)
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{ |
552 |
case 0: |
553 |
order(COUNT); break;
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554 |
|
555 |
case 1: |
556 |
order(CIRCLEUP); break;
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557 |
|
558 |
case 2: |
559 |
order(ORIENT); break;
|
560 |
|
561 |
case 3: |
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orderMove(DRIVE,20,2); break; |
563 |
|
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case 4: |
565 |
order(CIRCLEUP); break;
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|
567 |
case 5: |
568 |
order(ORIENT); break;
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569 |
|
570 |
case 6: |
571 |
orderMove(TURNR,18,1); break; |
572 |
|
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case 7: |
574 |
orderMove(DRIVE,20,2); break; |
575 |
|
576 |
case 8: |
577 |
order(CIRCLEUP); break;
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578 |
|
579 |
case 9: |
580 |
order(ORIENT); break;
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581 |
|
582 |
case 10: |
583 |
terminate(); break;
|
584 |
|
585 |
} |
586 |
|
587 |
break;
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588 |
|
589 |
|
590 |
//******************************************************************************
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591 |
//******************************************************************************
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592 |
|
593 |
|
594 |
/* The following states are MACHINE states for the EDGE robot. */
|
595 |
|
596 |
/*
|
597 |
EDGE on COUNT
|
598 |
*/
|
599 |
case 10: |
600 |
|
601 |
switch(edge_State)
|
602 |
{ |
603 |
/*
|
604 |
0. EDGE robots are on.
|
605 |
1. They are waiting for EXIST pacakage from the
|
606 |
Center robots
|
607 |
2. After they receive the package, they send ACK
|
608 |
package to center.
|
609 |
3. Done for now: display green.
|
610 |
*/
|
611 |
case 0: |
612 |
bom_off(); |
613 |
orb1_set_color(YELLOW); |
614 |
orb2_set_color(BLUE); |
615 |
packet_data=wl_basic_do_default(&data_length); |
616 |
|
617 |
if(packet_data != 0 && data_length>=2 && |
618 |
packet_data[0]==CIRCLE_ACTION_EXIST)
|
619 |
{ |
620 |
centerid = packet_data[1];
|
621 |
|
622 |
send2(CIRCLE_ACTION_ACK,robotid); |
623 |
|
624 |
edge_State=1;
|
625 |
} |
626 |
break;
|
627 |
|
628 |
/*
|
629 |
1. Wait for DONE package
|
630 |
2. The counting process is DONE
|
631 |
*/
|
632 |
case 1: |
633 |
|
634 |
orb_set_color(YELLOW); |
635 |
orb2_set_color(PURPLE); |
636 |
|
637 |
// keep sending the packet until we get a
|
638 |
// response
|
639 |
send2(CIRCLE_ACTION_ACK,robotid); |
640 |
|
641 |
packet_data=wl_basic_do_default(&data_length); |
642 |
if(packet_data != 0 && data_length>=2 && |
643 |
packet_data[0]==CIRCLE_ACTION_GOTYOU &&
|
644 |
packet_data[1] == robotid)
|
645 |
{ |
646 |
edge_State=2;
|
647 |
} |
648 |
break;
|
649 |
|
650 |
// wait for the second, general, done packet.
|
651 |
case 2: |
652 |
|
653 |
orb_set_color(YELLOW); |
654 |
packet_data=wl_basic_do_default(&data_length); |
655 |
if(packet_data != 0 && data_length>=2 && |
656 |
packet_data[0]==CIRCLE_ACTION_DONE &&
|
657 |
packet_data[1] == centerid)
|
658 |
{ |
659 |
state = 1;
|
660 |
} |
661 |
break;
|
662 |
} |
663 |
|
664 |
break;
|
665 |
|
666 |
/* The CIRCLEUP command for EDGE */
|
667 |
|
668 |
case 11: |
669 |
|
670 |
switch(edge_State)
|
671 |
{ |
672 |
|
673 |
case 0: |
674 |
// COLOR afer DONE ---> MAGENTA
|
675 |
orb_set_color(MAGENTA); |
676 |
// turn to face the beacon
|
677 |
faceFront(); |
678 |
forward(175);
|
679 |
//range_init();
|
680 |
|
681 |
|
682 |
distance = get_distance(); |
683 |
time=0;
|
684 |
while ((distance-offset)>=onefoot ||
|
685 |
distance==0 || (distance+offset)<onefoot)
|
686 |
{ |
687 |
if(distance==0) |
688 |
orb_set_color(WHITE); |
689 |
else if(distance-offset>=onefoot) |
690 |
forward(175);
|
691 |
else
|
692 |
backward(175);
|
693 |
distance = get_distance(); |
694 |
delay_ms(14);
|
695 |
time+=14;
|
696 |
if(time>30) |
697 |
{ |
698 |
faceFront(); |
699 |
time=0;
|
700 |
} |
701 |
} |
702 |
|
703 |
stop(); |
704 |
orb_set_color(GREEN); |
705 |
|
706 |
send2(CIRCLE_ACTION_ACK, robotid); |
707 |
|
708 |
stop(); |
709 |
state = 1;
|
710 |
break;
|
711 |
} |
712 |
|
713 |
|
714 |
break;
|
715 |
|
716 |
/* An ORIENT series of steps for the EDGE robot. */
|
717 |
|
718 |
case 12: |
719 |
|
720 |
switch(edge_State)
|
721 |
{ |
722 |
|
723 |
// waits for a packet to tell it to turn on the bom.
|
724 |
case 0: |
725 |
packet_data=wl_basic_do_default(&data_length); |
726 |
if(packet_data != 0 && data_length==2 && |
727 |
packet_data[0]==CIRCLE_ACTION_GOTYOU &&
|
728 |
packet_data[1] == robotid)
|
729 |
{ |
730 |
bom_on(); |
731 |
orb_set_color(ORANGE); |
732 |
send2(CIRCLE_ACTION_ACK,centerid); |
733 |
edge_State = 1;
|
734 |
} |
735 |
break;
|
736 |
|
737 |
// waits for a packet to tell it that it has been
|
738 |
// received.
|
739 |
case 1: |
740 |
orb2_set_color(YELLOW); |
741 |
packet_data=wl_basic_do_default(&data_length); |
742 |
if(packet_data != 0 && data_length==3 && |
743 |
packet_data[0]==CIRCLE_ACTION_GOTYOU &&
|
744 |
packet_data[1] == robotid)
|
745 |
{ |
746 |
bom_off(); |
747 |
direction = packet_data[2];
|
748 |
orb_set_color(YELLOW); |
749 |
edge_State = 2;
|
750 |
} |
751 |
break;
|
752 |
|
753 |
/*
|
754 |
Wait for the center bot to send a DONE packet; then
|
755 |
turn to face the right direction.
|
756 |
*/
|
757 |
case 2: |
758 |
orb_set_color(GREEN); |
759 |
packet_data=wl_basic_do_default(&data_length); |
760 |
if(packet_data != 0 && data_length>=2 && |
761 |
packet_data[0]==CIRCLE_ACTION_DONE)
|
762 |
{ |
763 |
orb_set_color(WHITE); |
764 |
orb2_set_color(CYAN); |
765 |
edge_State = 3;
|
766 |
} |
767 |
break;
|
768 |
|
769 |
/* Turn until we reach the right direction */
|
770 |
case 3: |
771 |
aboutFace(direction); |
772 |
stop(); |
773 |
orb_set_color(YELLOW); |
774 |
send2(CIRCLE_ACTION_DONE,robotid); |
775 |
state = 1;
|
776 |
break;
|
777 |
|
778 |
} |
779 |
|
780 |
break;
|
781 |
|
782 |
|
783 |
/* The DRIVE steps for the EDGE robot */
|
784 |
case 13: |
785 |
|
786 |
/* Wait for specifications to drive */
|
787 |
packet_data=wl_basic_do_default(&data_length); |
788 |
if(packet_data != 0 && data_length>=3 && |
789 |
packet_data[0]==CIRCLE_ACTION_FORWARD)
|
790 |
{ |
791 |
orb_set_color(BLUE); |
792 |
|
793 |
forward(packet_data[1]*10); |
794 |
delay_ms(packet_data[2]*1000); |
795 |
stop(); |
796 |
state = 1;
|
797 |
} |
798 |
|
799 |
break;
|
800 |
|
801 |
/* The TURNL steps for the EDGE robot */
|
802 |
case 14: |
803 |
|
804 |
/* Wait for specifications for the turn. */
|
805 |
packet_data=wl_basic_do_default(&data_length); |
806 |
if(packet_data != 0 && data_length>=3 && |
807 |
packet_data[0]==CIRCLE_ACTION_TURN)
|
808 |
{ |
809 |
orb_set_color(BLUE); |
810 |
|
811 |
left(packet_data[1]*10); |
812 |
delay_ms(packet_data[2]*1000); |
813 |
stop(); |
814 |
state = 1;
|
815 |
} |
816 |
break;
|
817 |
|
818 |
/* The TURNR steps for the EDGE robot */
|
819 |
case 15: |
820 |
|
821 |
/* Wait for specifications for the turn. */
|
822 |
packet_data=wl_basic_do_default(&data_length); |
823 |
if(packet_data != 0 && data_length>=3 && |
824 |
packet_data[0]==CIRCLE_ACTION_TURN)
|
825 |
{ |
826 |
orb_set_color(BLUE); |
827 |
|
828 |
right(packet_data[1]*10); |
829 |
delay_ms(packet_data[2]*1000); |
830 |
stop(); |
831 |
state = 1;
|
832 |
} |
833 |
break;
|
834 |
|
835 |
// END for EDGE robots
|
836 |
|
837 |
|
838 |
|
839 |
//******************************************************************************
|
840 |
//******************************************************************************
|
841 |
|
842 |
|
843 |
/*
|
844 |
The MACHINE for the BEACON state
|
845 |
*/
|
846 |
|
847 |
/* the COUNT code for the BEACON */
|
848 |
case 20: |
849 |
switch(beacon_State)
|
850 |
{ |
851 |
|
852 |
/* 0. center robots on wait for pressing button 1 */
|
853 |
case 0: |
854 |
bom_on(); |
855 |
orb_set_color(BLUE); |
856 |
robotsReceived = 0;
|
857 |
beacon_State=1;
|
858 |
break;
|
859 |
|
860 |
/* 1. Send EXIST package to EDGE robots */
|
861 |
case 1: |
862 |
orb_set_color(RED); |
863 |
send2(CIRCLE_ACTION_EXIST,robotid); |
864 |
beacon_State=2;
|
865 |
break;
|
866 |
|
867 |
/* 2. Count the number of the EDGE robots
|
868 |
*******NOTE: at most 1000 times of loop ****** */
|
869 |
case 2: |
870 |
waitingCounter++; |
871 |
orb1_set_color(YELLOW); |
872 |
orb2_set_color(BLUE); |
873 |
packet_data=wl_basic_do_default(&data_length); |
874 |
|
875 |
if(packet_data!=0 && data_length>=2 && |
876 |
packet_data[0]==CIRCLE_ACTION_ACK)
|
877 |
{ |
878 |
orb_set_color(RED); |
879 |
orb2_set_color(BLUE); |
880 |
// only add to list seen if you haven't
|
881 |
// gotten an ACK from this robot
|
882 |
if(used[packet_data[1]]==0) |
883 |
{ |
884 |
robotsReceived++; |
885 |
used[packet_data[1]] = 1; |
886 |
|
887 |
usb_puts("Added: ");
|
888 |
usb_puti(packet_data[1]);
|
889 |
usb_puts("\r\n");
|
890 |
} |
891 |
|
892 |
// NEW: sends a packet to each robot it
|
893 |
// receives telling them to be done.
|
894 |
send2(CIRCLE_ACTION_GOTYOU, |
895 |
packet_data[1]);
|
896 |
} |
897 |
if(waitingCounter >= 300) |
898 |
{ |
899 |
beacon_State=3;
|
900 |
} |
901 |
break;
|
902 |
|
903 |
/* COUNTing is DONE. Sending DONE package. */
|
904 |
case 3: |
905 |
blink(robotsReceived); |
906 |
orb_set_color(GREEN); |
907 |
send2(CIRCLE_ACTION_DONE, robotid); |
908 |
state = 2;
|
909 |
break;
|
910 |
} |
911 |
|
912 |
break;
|
913 |
|
914 |
/* The CIRCLEUP method for BEACON */
|
915 |
case 21: |
916 |
|
917 |
switch(beacon_State)
|
918 |
{ |
919 |
|
920 |
/* Wait for all the robots to get to right distance */
|
921 |
case 0: |
922 |
// left(170);
|
923 |
orb1_set_color(YELLOW); |
924 |
orb2_set_color(WHITE); |
925 |
|
926 |
numOk = 0;
|
927 |
|
928 |
while(numOk<robotsReceived)
|
929 |
{ |
930 |
packet_data= |
931 |
wl_basic_do_default(&data_length); |
932 |
if(packet_data!=0 && data_length>=2 && |
933 |
packet_data[0]==CIRCLE_ACTION_ACK)
|
934 |
{ |
935 |
numOk++; |
936 |
} |
937 |
} |
938 |
|
939 |
state = 2;
|
940 |
break;
|
941 |
} |
942 |
|
943 |
break;
|
944 |
|
945 |
|
946 |
/* The ORIENT code for the beacon */
|
947 |
case 22: |
948 |
|
949 |
switch(beacon_State)
|
950 |
{ |
951 |
/* Turns all the robots in the same direction */
|
952 |
case 0: |
953 |
stop(); |
954 |
bom_off(); |
955 |
orb_set_color(ORANGE); |
956 |
|
957 |
// for each robot, tells them to turn their bom
|
958 |
// on, then tells them which way to face.
|
959 |
for(int i=0; i < 17; i++) |
960 |
{ |
961 |
if(used[i] == 1) |
962 |
{ |
963 |
send2(CIRCLE_ACTION_GOTYOU, i); |
964 |
// waits for a response so it knows the
|
965 |
// BOM is on.
|
966 |
while(1) |
967 |
{ |
968 |
orb_set_color(RED); |
969 |
orb2_set_color(WHITE); |
970 |
packet_data=wl_basic_do_default( |
971 |
&data_length); |
972 |
if(packet_data!=0 && data_length>=2 |
973 |
&& packet_data[0]==
|
974 |
CIRCLE_ACTION_ACK) |
975 |
{ |
976 |
orb_set_color(ORANGE); |
977 |
break;
|
978 |
} |
979 |
} |
980 |
delay_ms(20);
|
981 |
bom_refresh(BOM_ALL); |
982 |
direction = bom_get_max(); |
983 |
|
984 |
direction += 8;
|
985 |
if(direction > 15) direction -= 16; |
986 |
|
987 |
delay_ms(20);
|
988 |
|
989 |
send3(CIRCLE_ACTION_GOTYOU, i, |
990 |
direction); |
991 |
|
992 |
delay_ms(20);
|
993 |
} |
994 |
} |
995 |
beacon_State = 1;
|
996 |
break;
|
997 |
|
998 |
/*
|
999 |
Sends a DONE packet to signify that it has read in all
|
1000 |
the robots' directions and sent packets.
|
1001 |
Edge robots should now turn to face the right direction.
|
1002 |
*/
|
1003 |
case 1: |
1004 |
send2(CIRCLE_ACTION_DONE,robotid); |
1005 |
bom_on(); |
1006 |
beacon_State = 2;
|
1007 |
break;
|
1008 |
|
1009 |
case 2: |
1010 |
numOk = 0;
|
1011 |
|
1012 |
while(numOk < robotsReceived)
|
1013 |
{ |
1014 |
orb_set_color(ORANGE); |
1015 |
packet_data=wl_basic_do_default( |
1016 |
&data_length); |
1017 |
|
1018 |
if(packet_data!=0 && data_length>=2 && |
1019 |
packet_data[0]==CIRCLE_ACTION_DONE)
|
1020 |
{ |
1021 |
numOk++; |
1022 |
} |
1023 |
} |
1024 |
state = 2;
|
1025 |
break;
|
1026 |
} |
1027 |
|
1028 |
break;
|
1029 |
|
1030 |
|
1031 |
/* The DRIVE code for the beacon */
|
1032 |
case 23: |
1033 |
|
1034 |
orb_set_color(YELLOW); |
1035 |
delay_ms(100);
|
1036 |
|
1037 |
// format: type of ack, speed divided by 10,
|
1038 |
// time in seconds.
|
1039 |
for(int i = 0 ; i < 13; i++) |
1040 |
send3(CIRCLE_ACTION_FORWARD,speed,duration); |
1041 |
orb_set_color(BLUE); |
1042 |
forward(speed*10);
|
1043 |
delay_ms(duration*1000);
|
1044 |
stop(); |
1045 |
state = 2;
|
1046 |
break;
|
1047 |
|
1048 |
/* The TURNL code for the beacon */
|
1049 |
case 24: |
1050 |
|
1051 |
orb_set_color(YELLOW); |
1052 |
delay_ms(100);
|
1053 |
|
1054 |
// format: type of ack, speed divided by 10,
|
1055 |
// time in seconds.
|
1056 |
for(int i = 0 ; i < 13; i++) |
1057 |
send3(CIRCLE_ACTION_TURN,speed,duration); |
1058 |
orb_set_color(BLUE); |
1059 |
left(speed*10);
|
1060 |
delay_ms(duration*1000);
|
1061 |
stop(); |
1062 |
state = 2;
|
1063 |
|
1064 |
break;
|
1065 |
|
1066 |
/* The TURNR code for the beacon */
|
1067 |
case 25: |
1068 |
|
1069 |
orb_set_color(YELLOW); |
1070 |
delay_ms(100);
|
1071 |
|
1072 |
// format: type of ack, speed divided by 10,
|
1073 |
// time in seconds.
|
1074 |
for(int i = 0 ; i < 13; i++) |
1075 |
send3(CIRCLE_ACTION_TURN,speed,duration); |
1076 |
orb_set_color(BLUE); |
1077 |
right(speed*10);
|
1078 |
delay_ms(duration*1000);
|
1079 |
stop(); |
1080 |
state = 2;
|
1081 |
|
1082 |
break;
|
1083 |
|
1084 |
|
1085 |
//******************************************************************************
|
1086 |
//******************************************************************************
|
1087 |
|
1088 |
} // ends the main switch
|
1089 |
} // ends the main while loop
|
1090 |
|
1091 |
// error, we should never break from the while loop!
|
1092 |
orb_set_color(RED); |
1093 |
|
1094 |
/*
|
1095 |
END HERE, just in case something happened.
|
1096 |
This way we can see the red orb.
|
1097 |
*/
|
1098 |
while(1); |
1099 |
} |