Colony

/*HUNTER_PREY by jamesCarroll 10/26/10*/

#include <dragonfly_lib.h>

#include <wl_basic.h>

#include "hunter_prey.h"

#define WL_CHANNEL 15 

/* Variables used to receive packets */

unsigned char* packet_data;

int data_length;

/*  Data buffer used to send packets */

char send_buffer[3];

int main(void)

{

    /* Initialize dragonfly board */

    dragonfly_init(ALL_ON);

    /* Initialize the basic wireless library */

    wl_basic_init_default();

    /* Set the XBee channel to your assigned channel */

    wl_set_channel(WL_CHANNEL);

    /* ****** CODE HERE ******* */

        int yes= 1;

        int no = 3;

        int speed = 200;

        int isHunter = yes;

        int t1 = 0;

        int t2 = 0;

        int timechecked = 0;

        int beginning = 1;

        send_buffer[2] = get_robotid();

        if(wheel()<100)

                isHunter=yes;

        else

                isHunter=no;

        while(1)

        {

                if(isHunter == yes)

                {

                        bom_off();

                        orb_set_color(RED);

                        while(1)

                        {

                                int front = 0;

                                front = range_read_distance(IR2);

                                bom_refresh(BOM_ALL);

                                int bomNum = 0;

                                bomNum = bom_get_max();

                                if(hunter_prey_tagged(bomNum, front))

                                {

                                        send_buffer[0] = HUNTER_PREY_ACTION_TAG;

                                        send_buffer[1] = get_robotid();

                                        wl_basic_send_global_packet(42, send_buffer, 3);

                                }

                                packet_data = wl_basic_do_default(&data_length);

                                if(packet_data != 0)

                                {

                                        if(data_length == 3 && packet_data[0] == HUNTER_PREY_ACTION_ACK)

                                        {

                                                if(packet_data[1] == get_robotid())

                                                {

                                                        orb_set_color(GREEN);

                                                        isHunter = no;

                                                        motor_l_set(1, 200);

                                                        motor_r_set(0,200);delay_ms(1000);break;

                                                }

                                                else{

                                                        orb_set_color(BLUE);motor_r_set(0,0);motor_l_set(0,0);delay_ms(3000);break;

                                                }

                                        }

                                }

                                bom_refresh(BOM_ALL);

                                bomNum = bom_get_max();

                                if(bomNum == 4)

                                {        

                                        motor_l_set(1, speed);

                                        motor_r_set(1, speed);

                                }

                                else

                                {

                                        if(bomNum == -1){}

                                        else if((bomNum >= 12) || (bomNum < 4))

                                        {

                                                motor_l_set(FORWARD, speed);

                                                motor_r_set(BACKWARD, speed);

                                        }

                                        else

                                        {

                                                motor_l_set(BACKWARD, speed);

                                                motor_r_set(FORWARD, speed);

                                        }

                                }

                        }

                }

                else

                {

                        orb_set_color(GREEN);

                        bom_on();

                        while(1)

                        {

                                int front = range_read_distance(IR2);

                                packet_data = wl_basic_do_default(&data_length);

                                if(packet_data != 0)

                                {        

                                        if(data_length == 3 && packet_data[0] == HUNTER_PREY_ACTION_TAG)

                                        {

                                                send_buffer[0] = HUNTER_PREY_ACTION_ACK;

                                                send_buffer[1] = packet_data[1];

                                                wl_basic_send_global_packet(42, send_buffer, 3);

                                                isHunter=yes;

                                                orb_set_color(BLUE);

                                                motor_r_set(0,0);motor_l_set(0,0);

                                                bom_off();

                                                delay_ms(3000);

                                                break;

                                        }

                                }

                                int side1 = range_read_distance(IR1);

                                int side2 = range_read_distance(IR3);

                                t2 = rtc_get();

                                if(front < 200 && front > 50 && !(timechecked == 1))

                                {

                                        orb2_set_color(RED);

                                        timechecked = 1;

                                        t1 = rtc_get();

                                        motor_l_set(1, speed);

                                        motor_r_set(0, 0);

                                }

                                else if(side1 < 300 && side1 > 0 && timechecked != 1)

                                {

                                        motor_r_set(0,0);

                                }

                                else if(side2 < 300 && side2 > 0 && timechecked != 1)

                                {

                                        motor_l_set(0,0);

                                }

                                else

                                {

                                        if(t2 - t1 > 2 || beginning == 1)

                                        {

                                                orb2_set_color(BLUE);

                                                timechecked = 0;

                                                motor_l_set(1, speed);

                                                motor_r_set(1, speed);

                                                beginning = 0;

                                        }

                                }

                        }

                }

        }

    /* ****** END HERE ******* */

    while(1);

    return 0;

}