Revision 1848
added Carroll James' hunter prey corrected to bosserman's wireless specifications
| trunk/code/behaviors/hunter_prey/james/main.c | ||
|---|---|---|
| 1 |
/*HUNTER_PREY by jamesCarroll 10/26/10*/ |
|
| 1 | 2 |
#include <dragonfly_lib.h> |
| 2 | 3 |
#include <wl_basic.h> |
| 3 | 4 |
#include "hunter_prey.h" |
| 4 | 5 |
|
| 5 |
#define WL_CHANNEL 15 |
|
| 6 |
#define HUNTER 3 |
|
| 7 |
#define PREY 1 |
|
| 8 |
#define PREHUNTER 2 |
|
| 9 |
#define PREPREY 0 |
|
| 10 |
#define WAITING 4 |
|
| 6 |
#define WL_CHANNEL 15 |
|
| 11 | 7 |
|
| 12 | 8 |
/* Variables used to receive packets */ |
| 13 | 9 |
unsigned char* packet_data; |
| 14 | 10 |
int data_length; |
| 15 | 11 |
|
| 16 | 12 |
/* Data buffer used to send packets */ |
| 17 |
char send_buffer[2];
|
|
| 13 |
char send_buffer[3];
|
|
| 18 | 14 |
|
| 19 | 15 |
int main(void) |
| 20 | 16 |
{
|
| 21 | 17 |
|
| 22 |
/* Initialize dragonfly board */ |
|
| 23 |
dragonfly_init(ALL_ON); |
|
| 24 |
/* Initialize the XBEE */ |
|
| 25 |
xbee_init(); |
|
| 26 |
/* Initialize the basic wireless library */ |
|
| 27 |
wl_basic_init_default(); |
|
| 28 |
/* Set the XBee channel to your assigned channel */ |
|
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wl_set_channel(WL_CHANNEL); |
|
| 30 |
/* Initialize Orbs*/ |
|
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orb_init(); |
|
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/* Initialize Clock*/ |
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rtc_init(SIXTEENTH_SECOND, NULL); |
|
| 34 |
/* Initialize motors*/ |
|
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motors_init(); |
|
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/* Initialize dragonfly board */ |
|
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dragonfly_init(ALL_ON); |
|
| 20 |
/* Initialize the basic wireless library */ |
|
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wl_basic_init_default(); |
|
| 22 |
/* Set the XBee channel to your assigned channel */ |
|
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wl_set_channel(WL_CHANNEL); |
|
| 36 | 24 |
|
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int state=PREPREY, time, max_bom_reading, front_rangefinder_reading, angle, d1=80, d2=80, d3=80, d4=80, d5=80, speed=0; |
|
| 38 |
unsigned char id=get_robotid(), tag; |
|
| 25 |
/* ****** CODE HERE ******* */ |
|
| 26 |
int yes= 1; |
|
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int no = 3; |
|
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int speed = 200; |
|
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int isHunter = yes; |
|
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int t1 = 0; |
|
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int t2 = 0; |
|
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int timechecked = 0; |
|
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int beginning = 1; |
|
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send_buffer[2] = get_robotid(); |
|
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if(wheel()<100) |
|
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isHunter=yes; |
|
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else |
|
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isHunter=no; |
|
| 39 | 39 |
|
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if(wheel() < 100) |
|
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state=HUNTER; |
|
| 42 |
|
|
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while(1){
|
|
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switch(state) |
|
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while(1) |
|
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{
|
|
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if(isHunter == yes) |
|
| 45 | 43 |
{
|
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case PREPREY: |
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bom_off(); |
|
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orb_set_color(RED); |
|
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while(1) |
|
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{
|
|
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int front = 0; |
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front = range_read_distance(IR2); |
|
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bom_refresh(BOM_ALL); |
|
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int bomNum = 0; |
|
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bomNum = bom_get_max(); |
|
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if(hunter_prey_tagged(bomNum, front)) |
|
| 47 | 54 |
{
|
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orb1_set_color(YELLOW); |
|
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bom_on(); |
|
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state=PREY; |
|
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motor_r_set(BACKWARD,200); |
|
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motor_l_set(BACKWARD,200); |
|
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delay_ms(2000); |
|
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while(wl_basic_do_default(&data_length)); |
|
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orb1_set_color(GREEN); |
|
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rtc_reset(); |
|
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break; |
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send_buffer[0] = HUNTER_PREY_ACTION_TAG; |
|
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send_buffer[1] = get_robotid(); |
|
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wl_basic_send_global_packet(42, send_buffer, 3); |
|
| 58 | 58 |
} |
| 59 |
case PREY: |
|
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packet_data = wl_basic_do_default(&data_length); |
|
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if(packet_data != 0) |
|
| 60 | 61 |
{
|
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int t1 = 0; |
|
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int t2 = 0; |
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int timechecked = 0; |
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int beginning = 1; |
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orb1_set_color(GREEN); |
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orb2_set_color(GREEN); |
|
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|
|
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while(1) |
|
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if(data_length == 3 && packet_data[0] == HUNTER_PREY_ACTION_ACK) |
|
| 69 | 63 |
{
|
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int front = range_read_distance(IR2); |
|
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packet_data = wl_basic_do_default(&data_length); |
|
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if(packet_data != 0) |
|
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if(packet_data[1] == get_robotid()) |
|
| 73 | 65 |
{
|
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if(data_length == 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
|
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{
|
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send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
|
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send_buffer[1] = packet_data[1]; |
|
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wl_basic_send_global_packet(42, send_buffer, 2); |
|
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state=PREHUNTER; |
|
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motor_r_set(0,0);motor_l_set(0,0); |
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break; |
|
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} |
|
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orb_set_color(GREEN); |
|
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isHunter = no; |
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motor_l_set(1, 200); |
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motor_r_set(0,200);delay_ms(1000);break; |
|
| 83 | 70 |
} |
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int side1 = range_read_distance(IR1); |
|
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int side2 = range_read_distance(IR3); |
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t2 = rtc_get(); |
|
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if(front < 200 && front > 50 && !(timechecked == 1)) |
|
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{
|
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orb2_set_color(RED); |
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timechecked = 1; |
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t1 = rtc_get(); |
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motor_l_set(1, 255); |
|
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motor_r_set(0, 0); |
|
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else{
|
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orb_set_color(BLUE);motor_r_set(0,0);motor_l_set(0,0);delay_ms(3000);break; |
|
| 94 | 73 |
} |
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else if(side1 < 300 && side1 > 0 && timechecked != 1) |
|
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{
|
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motor_r_set(0,0); |
|
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} |
|
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else if(side2 < 300 && side2 > 0 && timechecked != 1) |
|
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{
|
|
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motor_l_set(0,0); |
|
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} |
|
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else |
|
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{
|
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if(t2 - t1 > 2 || beginning == 1) |
|
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{
|
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orb2_set_color(BLUE); |
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timechecked = 0; |
|
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motor_l_set(1, 255); |
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motor_r_set(1, 255); |
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beginning = 0; |
|
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} |
|
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} |
|
| 114 | 74 |
} |
| 115 |
break; |
|
| 116 | 75 |
} |
| 117 |
case PREHUNTER: /*new hunter mode (5 second pause)*/ |
|
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{
|
|
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orb1_set_color(BLUE); |
|
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orb2_set_color(BLUE); |
|
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motors_off(); |
|
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state=HUNTER; |
|
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rtc_reset(); |
|
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bom_off(); |
|
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delay_ms(3000); |
|
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while(wl_basic_do_default(&data_length)); |
|
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orb1_set_color(RED); |
|
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break; |
|
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bom_refresh(BOM_ALL); |
|
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bomNum = bom_get_max(); |
|
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if(bomNum == 4) |
|
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{
|
|
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motor_l_set(1, speed); |
|
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motor_r_set(1, speed); |
|
| 129 | 82 |
} |
| 130 |
case HUNTER:
|
|
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else
|
|
| 131 | 84 |
{
|
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orb1_set_color(RED); |
|
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orb2_set_color(RED); |
|
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/*HUNT*/ |
|
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angle=0; speed=FULL_SPD; |
|
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if(max_bom_reading==4){
|
|
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motor_l_set(FORWARD, 255); |
|
| 138 |
motor_r_set(FORWARD, 255); |
|
| 85 |
if(bomNum == -1){}
|
|
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else if((bomNum >= 12) || (bomNum < 4)) |
|
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{
|
|
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motor_l_set(FORWARD, speed); |
|
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motor_r_set(BACKWARD, speed); |
|
| 139 | 90 |
} |
| 140 |
if(max_bom_reading>=1 && max_bom_reading<=3){
|
|
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motor_l_set(FORWARD, 255); |
|
| 142 |
motor_r_set(FORWARD, 190); |
|
| 91 |
else |
|
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{
|
|
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motor_l_set(BACKWARD, speed); |
|
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motor_r_set(FORWARD, speed); |
|
| 143 | 95 |
} |
| 144 |
if(max_bom_reading>=5 && max_bom_reading<=7){
|
|
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motor_l_set(FORWARD, 190); |
|
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motor_r_set(FORWARD, 255); |
|
| 96 |
} |
|
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} |
|
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} |
|
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else |
|
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{
|
|
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orb_set_color(GREEN); |
|
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bom_on(); |
|
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while(1) |
|
| 104 |
{
|
|
| 105 |
int front = range_read_distance(IR2); |
|
| 106 |
packet_data = wl_basic_do_default(&data_length); |
|
| 107 |
if(packet_data != 0) |
|
| 108 |
{
|
|
| 109 |
if(data_length == 3 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
|
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{
|
|
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send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
|
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send_buffer[1] = packet_data[1]; |
|
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wl_basic_send_global_packet(42, send_buffer, 3); |
|
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isHunter=yes; |
|
| 115 |
orb_set_color(BLUE); |
|
| 116 |
motor_r_set(0,0);motor_l_set(0,0); |
|
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bom_off(); |
|
| 118 |
delay_ms(3000); |
|
| 119 |
break; |
|
| 147 | 120 |
} |
| 148 |
if((max_bom_reading>=8 && max_bom_reading<=11) || max_bom_reading<0){
|
|
| 149 |
motor_l_set(BACKWARD, 170); |
|
| 150 |
motor_r_set(FORWARD, 255); |
|
| 151 |
orb2_set_color(RED); |
|
| 152 |
} |
|
| 153 |
if((max_bom_reading>=12 && max_bom_reading<=15) || max_bom_reading==0){
|
|
| 154 |
motor_l_set(FORWARD, 255); |
|
| 155 |
motor_r_set(BACKWARD, 170); |
|
| 156 |
} |
|
| 157 |
/*Tagging*/ |
|
| 158 |
packet_data = wl_basic_do_default(&data_length); |
|
| 159 |
if(packet_data != 0 && packet_data[0]==HUNTER_PREY_ACTION_ACK && packet_data[1]!=id){
|
|
| 160 |
state=PREHUNTER; |
|
| 161 |
} |
|
| 162 |
bom_refresh(BOM_ALL); |
|
| 163 |
front_rangefinder_reading = -1; |
|
| 164 |
while(front_rangefinder_reading == -1){
|
|
| 165 |
front_rangefinder_reading = range_read_distance(IR2); |
|
| 166 |
} |
|
| 167 |
delay_ms(10); |
|
| 168 |
max_bom_reading = bom_get_max(); |
|
| 169 |
tag = hunter_prey_tagged(max_bom_reading, front_rangefinder_reading); |
|
| 170 |
time = rtc_get(); |
|
| 171 |
if(button2_read()==1 || (tag && time>16)){
|
|
| 172 |
send_buffer[0]=HUNTER_PREY_ACTION_TAG; |
|
| 173 |
send_buffer[1]=id; |
|
| 174 |
wl_basic_send_global_packet( 42, send_buffer, 2 ); |
|
| 175 |
rtc_reset(); |
|
| 176 |
state=WAITING; |
|
| 177 |
orb1_set_color(PURPLE); |
|
| 178 |
} |
|
| 179 |
break; |
|
| 180 | 121 |
} |
| 181 |
case WAITING: /*Waiting for ack after sending tag*/ |
|
| 122 |
int side1 = range_read_distance(IR1); |
|
| 123 |
int side2 = range_read_distance(IR3); |
|
| 124 |
t2 = rtc_get(); |
|
| 125 |
if(front < 200 && front > 50 && !(timechecked == 1)) |
|
| 182 | 126 |
{
|
| 183 |
time = rtc_get(); |
|
| 184 |
packet_data = wl_basic_do_default(&data_length); |
|
| 185 |
if(packet_data != 0 && packet_data[0]==HUNTER_PREY_ACTION_ACK && packet_data[1]==id){
|
|
| 186 |
state=PREPREY; |
|
| 187 |
rtc_reset(); |
|
| 127 |
orb2_set_color(RED); |
|
| 128 |
timechecked = 1; |
|
| 129 |
t1 = rtc_get(); |
|
| 130 |
motor_l_set(1, speed); |
|
| 131 |
motor_r_set(0, 0); |
|
| 132 |
} |
|
| 133 |
else if(side1 < 300 && side1 > 0 && timechecked != 1) |
|
| 134 |
{
|
|
| 135 |
motor_r_set(0,0); |
|
| 136 |
} |
|
| 137 |
else if(side2 < 300 && side2 > 0 && timechecked != 1) |
|
| 138 |
{
|
|
| 139 |
motor_l_set(0,0); |
|
| 140 |
} |
|
| 141 |
else |
|
| 142 |
{
|
|
| 143 |
if(t2 - t1 > 2 || beginning == 1) |
|
| 144 |
{
|
|
| 145 |
orb2_set_color(BLUE); |
|
| 146 |
timechecked = 0; |
|
| 147 |
motor_l_set(1, speed); |
|
| 148 |
motor_r_set(1, speed); |
|
| 149 |
beginning = 0; |
|
| 188 | 150 |
} |
| 189 |
if(packet_data != 0 && packet_data[0]==HUNTER_PREY_ACTION_ACK && packet_data[1]!=id){
|
|
| 190 |
state=PREHUNTER; |
|
| 191 |
} |
|
| 192 |
if(time>16){
|
|
| 193 |
state=HUNTER; |
|
| 194 |
orb1_set_color(RED); |
|
| 195 |
} |
|
| 196 |
break; |
|
| 197 | 151 |
} |
| 152 |
} |
|
| 198 | 153 |
} |
| 199 | 154 |
} |
| 200 | 155 |
|
| 201 |
while(1); |
|
| 202 | 156 |
|
| 203 |
return 0;
|
|
| 157 |
/* ****** END HERE ******* */
|
|
| 204 | 158 |
|
| 159 |
while(1); |
|
| 160 |
|
|
| 161 |
return 0; |
|
| 162 |
|
|
| 205 | 163 |
} |
| 206 | 164 |
|
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