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/*
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* template.c - A starting point for developing behaviors using the Colony
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* robots. To create a new behavior, you should copy this "template"
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* folder to another folder and rename the "template.c" file
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* appropriately.
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*
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* This template will have the robot drive in circles and flash the orbs.
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*
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* Author: John Sexton, Colony Project, CMU Robotics Club
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*/
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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 "cal_sta_robot.h"
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/*** TODO: ***
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/* Time delay which determines how long the robot circles before it
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* changes direction. */
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#define TIME_DELAY 1000
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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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int main (void) {
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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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284 |
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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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/* Initialize the dragonfly boards, the xbee, and the encoders */
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dragonfly_init(ALL_ON);
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xbee_init();
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encoders_init();
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288 |
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while(bomNum != goal)
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{
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291 |
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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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297 |
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return;
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298 |
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}
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while (1) {
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/* Drive left, set orbs, and wait */
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orbs_set_color(RED, GREEN);
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usb_puts("Robot\n");
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delay_ms(TIME_DELAY);
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299 |
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300 |
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301 |
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/*
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302 |
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BLINK the given number times
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303 |
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*/
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304 |
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void blink(int num)
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{
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306 |
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for(int i = 0; i<num; i++)
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307 |
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{
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308 |
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orb_set_color(ORB_OFF);
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delay_ms(150);
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310 |
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orb_set_color(RED);
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311 |
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delay_ms(50);
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/* Drive right, change orb colors, and wait */
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orbs_set_color(PURPLE, BLUE);
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usb_puts("Marvin\n");
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delay_ms(TIME_DELAY);
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312 |
36 |
}
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313 |
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orb_set_color(ORB_OFF);
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}
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315 |
37 |
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316 |
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/*
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317 |
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BLINK slowly the given number times
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318 |
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*/
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319 |
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void slowblink(int num)
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320 |
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{
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321 |
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for(int i = 0; i<num; i++)
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322 |
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{
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323 |
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orb_set_color(ORB_OFF);
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324 |
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delay_ms(300);
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325 |
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orb_set_color(RED);
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326 |
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delay_ms(200);
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327 |
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}
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328 |
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orb_set_color(ORB_OFF);
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329 |
38 |
}
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330 |
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331 |
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/*
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332 |
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A method for the higher-level code for the BEACON. The beacon can make
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333 |
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any of the preprogrammed commands, and this code sends the packet and
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334 |
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transitions the robots correctly.
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335 |
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*/
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336 |
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void order(int action)
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337 |
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{
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338 |
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currentPos++;
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339 |
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send2(CIRCLE_EXECUTE, action);
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340 |
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state = 20 + action;
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341 |
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}
|
342 |
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343 |
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/*
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344 |
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A method for the higher-level code for the BEACON. The beacond sends
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345 |
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not only the command, but also the speed and duration for which the
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346 |
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(movement) command is to be executed.
|
347 |
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*/
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348 |
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void orderMove(int action, int newSpeed, int newDuration)
|
349 |
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{
|
350 |
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currentPos++;
|
351 |
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speed = newSpeed;
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352 |
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duration = newDuration;
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353 |
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send2(CIRCLE_EXECUTE, action);
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354 |
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state = 20 + action;
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355 |
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}
|
356 |
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357 |
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/*
|
358 |
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Turns off the motors, sends an EXECUTE packet, and blinks green and white
|
359 |
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forever.
|
360 |
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*/
|
361 |
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void terminate(void)
|
362 |
|
{
|
363 |
|
motors_off();
|
364 |
|
send2(CIRCLE_EXECUTE, 100);
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365 |
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orb_set_color(GREEN);
|
366 |
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orb2_set_color(WHITE);
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367 |
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while(1) ;
|
368 |
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}
|
369 |
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|
370 |
|
|
371 |
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//******************************************************************************
|
372 |
|
//******************************************************************************
|
373 |
|
//******************************************************************************
|
374 |
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|
375 |
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|
376 |
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|
377 |
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/*
|
378 |
|
A state machine with five states. The robot starts out in WAITINGSTATE mode,
|
379 |
|
from which it recieves a signal of some sort and moves to a different state.
|
380 |
|
*/
|
381 |
|
int main(void)
|
382 |
|
{
|
383 |
|
/* Initialize dragonfly board */
|
384 |
|
dragonfly_init(ALL_ON);
|
385 |
|
/* Initialize the basic wireless library */
|
386 |
|
wl_basic_init_default();
|
387 |
|
/* Set the XBee channel to 24 - must be standard among robots */
|
388 |
|
wl_set_channel(24);
|
389 |
|
|
390 |
|
int robotid = get_robotid();
|
391 |
|
|
392 |
|
// once the EDGE gets the first signal from a center, it stores who the // center is.
|
393 |
|
int centerid = 0;
|
394 |
|
|
395 |
|
// stores a list of bots which are in the group by storing a "1" in the
|
396 |
|
// array if the robot of that index is in the group.
|
397 |
|
int used[17];
|
398 |
|
int numOk;
|
399 |
|
|
400 |
|
// initially, no robots in the group.
|
401 |
|
for (int i=0; i<17; i++)
|
402 |
|
used[i] = 0;
|
403 |
|
|
404 |
|
// keeps track of the length of wireless packets received.
|
405 |
|
int data_length;
|
406 |
|
unsigned char *packet_data=wl_basic_do_default(&data_length);
|
407 |
|
|
408 |
|
// these variables keep track of the inner state machines in the
|
409 |
|
// procedural MACHINE states.
|
410 |
|
int beacon_State=0;
|
411 |
|
int edge_State=0;
|
412 |
|
|
413 |
|
int waitingCounter=0;
|
414 |
|
|
415 |
|
// an important variable that stores the size of the group.
|
416 |
|
int robotsReceived=0;
|
417 |
|
|
418 |
|
// offset for the approaching: how far off the rangefinders can be
|
419 |
|
int offset = 20;
|
420 |
|
int time=0;
|
421 |
|
|
422 |
|
// keeps track of which way robots are facing relative to the center
|
423 |
|
int direction = 4;
|
424 |
|
|
425 |
|
// how far away the robot is. Initialized to a large value to ensure
|
426 |
|
// that the robot doesn't think it is already the right distance away.
|
427 |
|
int distance=1000;
|
428 |
|
int onefoot = 250; // how far away to stop.
|
429 |
|
|
430 |
|
while(1)
|
431 |
|
{
|
432 |
|
bom_refresh(BOM_ALL);
|
433 |
|
|
434 |
|
/***EXPECTED MOVES***
|
435 |
|
(OUT OF DATE. Will be updated once changes have been made.)
|
436 |
|
The designed movement:
|
437 |
|
1. one center robot, several edge robots are on;
|
438 |
|
2. center robots: button 1 is pressed;
|
439 |
|
3. center robots: send global package telling edges that he exists;
|
440 |
|
4. EDGE robots response with ACK.
|
441 |
|
5. EDGE robots wait for center robots to finish counting (DONE package)
|
442 |
|
6. EDGE robtos approach the center robtot and stop at the "onefoot"
|
443 |
|
distance, send message to the center
|
444 |
|
*/
|
445 |
|
|
446 |
|
|
447 |
|
/*
|
448 |
|
This is the MAIN SWITCH LOOP, which governs the overall
|
449 |
|
status of the robot.
|
450 |
|
*/
|
451 |
|
switch(state)
|
452 |
|
{
|
453 |
|
|
454 |
|
|
455 |
|
/*
|
456 |
|
The WAITINGSTATE. This state constantly checks for wireless
|
457 |
|
packets,
|
458 |
|
and updates its state as soon as it receives a signal.
|
459 |
|
*/
|
460 |
|
case 0:
|
461 |
|
|
462 |
|
orb_set_color(YELLOW);
|
463 |
|
packet_data=wl_basic_do_default(&data_length);
|
464 |
|
if(packet_data != 0 && data_length>=2
|
465 |
|
&& packet_data[0]==CIRCLE_CLAIM_CENTER)
|
466 |
|
{
|
467 |
|
centerid = packet_data[1];
|
468 |
|
state = 1;
|
469 |
|
}
|
470 |
|
|
471 |
|
if(button1_read())
|
472 |
|
{
|
473 |
|
// becomes the center if button1 is clicked.
|
474 |
|
send2(CIRCLE_CLAIM_CENTER, robotid);
|
475 |
|
state = 2;
|
476 |
|
}
|
477 |
|
break;
|
478 |
|
|
479 |
|
|
480 |
|
|
481 |
|
//******************************************************************************
|
482 |
|
//******************************************************************************
|
483 |
|
|
484 |
|
|
485 |
|
/*
|
486 |
|
The CONTROL for the EDGE state. This sets a certain procedure
|
487 |
|
to follow, in the form of simple
|
488 |
|
commands, for a robot to follow if it is set to an EDGE.
|
489 |
|
*/
|
490 |
|
|
491 |
|
case 1:
|
492 |
|
orb_set_color(CYAN);
|
493 |
|
orb1_set_color(YELLOW);
|
494 |
|
|
495 |
|
int command = -1;
|
496 |
|
|
497 |
|
packet_data=wl_basic_do_default(&data_length);
|
498 |
|
|
499 |
|
if(packet_data != 0 && data_length>=2 &&
|
500 |
|
packet_data[0]==CIRCLE_EXECUTE)
|
501 |
|
{
|
502 |
|
command = packet_data[1];
|
503 |
|
}
|
504 |
|
|
505 |
|
if(command != -1)
|
506 |
|
{
|
507 |
|
edge_State = 0;
|
508 |
|
switch(command)
|
509 |
|
{
|
510 |
|
case 0:
|
511 |
|
state = 10; break;
|
512 |
|
|
513 |
|
case 1:
|
514 |
|
state = 11; break;
|
515 |
|
|
516 |
|
case 2:
|
517 |
|
state = 12; break;
|
518 |
|
|
519 |
|
case 3:
|
520 |
|
state = 13; break;
|
521 |
|
|
522 |
|
case 4:
|
523 |
|
state = 14; break;
|
524 |
|
|
525 |
|
case 5:
|
526 |
|
state = 15; break;
|
527 |
|
|
528 |
|
case 100:
|
529 |
|
terminate(); break;
|
530 |
|
}
|
531 |
|
}
|
532 |
|
|
533 |
|
break;
|
534 |
|
|
535 |
|
|
536 |
|
|
537 |
|
//******************************************************************************
|
538 |
|
//******************************************************************************
|
539 |
|
|
540 |
|
|
541 |
|
/*
|
542 |
|
The CONTROL for the BEACON state. This sets a certain procedure
|
543 |
|
to follow, in the form of simple commands, for a robot to follow
|
544 |
|
if it is set to a BEACON.
|
545 |
|
*/
|
546 |
|
case 2:
|
547 |
|
orb_set_color(PURPLE);
|
548 |
|
beacon_State = 0;
|
549 |
|
|
550 |
|
switch(currentPos)
|
551 |
|
{
|
552 |
|
case 0:
|
553 |
|
order(COUNT); break;
|
554 |
|
|
555 |
|
case 1:
|
556 |
|
order(CIRCLEUP); break;
|
557 |
|
|
558 |
|
case 2:
|
559 |
|
order(ORIENT); break;
|
560 |
|
|
561 |
|
case 3:
|
562 |
|
orderMove(DRIVE,20,2); break;
|
563 |
|
|
564 |
|
case 4:
|
565 |
|
order(CIRCLEUP); break;
|
566 |
|
|
567 |
|
case 5:
|
568 |
|
order(ORIENT); break;
|
569 |
|
|
570 |
|
case 6:
|
571 |
|
orderMove(TURNR,18,1); break;
|
572 |
|
|
573 |
|
case 7:
|
574 |
|
orderMove(DRIVE,20,2); break;
|
575 |
|
|
576 |
|
case 8:
|
577 |
|
order(CIRCLEUP); break;
|
578 |
|
|
579 |
|
case 9:
|
580 |
|
order(ORIENT); break;
|
581 |
|
|
582 |
|
case 10:
|
583 |
|
terminate(); break;
|
584 |
|
|
585 |
|
}
|
586 |
|
|
587 |
|
break;
|
588 |
|
|
589 |
|
|
590 |
|
//******************************************************************************
|
591 |
|
//******************************************************************************
|
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 |
|
}
|