Colony

#include <dragonfly_lib.h>

#include <wl_defs.h>

#include <wireless.h>

#include <wl_token_ring.h>

#include "smart_run_around_fsm.h"

#include "lemmings.h"

/*A simple behavior for following the leader.

  SINGLE_FILE pattern not implemented yet

*/

void lemmings_init()

{

  dragonfly_init(ALL_ON);

  wl_init();

  run_around_init(); // prepare for moving

/*

  analog_init();

  motors_init();

  usb_init();

  usb_puts("initted usb\n");

  wl_init();

  usb_puts("initted wireless\n");

*/ 

  wl_token_ring_register();

  usb_puts("registered for token ring\n");

  wl_token_ring_join(); // join token ring

  usb_puts("joined token ring\n");

  /*Start in the default state, LEAD*/ 

  cur_state = LEAD;

  /*Set timers to their maximum values.*/

  crazy_count=CRAZY_MAX;

  // set to default state

  follow_bot = -1;

  cur_state = LEAD;

  // set pattern

  lemmings_set_pattern(FOLLOW_MULTI_DEFAULT);

  usb_puts("initted successfully\n");

}

// set the following pattern

// SINGLE_FILE if pattern <= 0

// TREE        if pattern >= 1

void lemmings_set_pattern(int pattern)

{

  if (pattern <= 0)

    follow_multi = 0;

  else

    follow_multi = 1;

}

/*The main function, call this to update states as frequently as possible.*/

void lemmings_FSM(void) {

  int bom=0;

  if (follow_bot < 0)

    lemmings_Prims(); // if we are not following, then attempt to follow

  usb_puts("following: ");

  usb_puti(follow_bot);

  // if we are following a bot, make sure we can still see it

  while (follow_bot >= 0) {

    bom = wl_token_get_sensor_reading(wl_get_xbee_id(),follow_bot);

    if (bom < 0) {

      // get new bot to follow

      lemmings_Prims();

      continue;

    }

    else {

      cur_state = FOLLOW; // set to follow state

      switch(bom) {

      case 0:

      case 15:

      case 14:

      case 13:

      case 12:

        follow_direction = 255;

        break;

      case 1:

        follow_direction = 150;

        break;

      case 2:

        follow_direction = 100;

        break;

      case 3:

        follow_direction = 50;

        break;

      case 4:

        follow_direction = 0;

        break;

      case 5:

        follow_direction = -50;

        break;

      case 6:

        follow_direction = -100;

        break;

      case 7:

        follow_direction = -150;

        break;

      case 8:

      case 9:

      case 10:

      case 11:

        follow_direction = -255;

        break;

      default:

        follow_direction = 0;

        break;

      }

      break; // break from loop

    }

  }

  /*If the crazy count is in it's >>3 range, and we are currently a follower, be a leader.*/

  if(cur_state == FOLLOW && crazy_count<=(CRAZY_MAX>>3))

  {

    cur_state = LEAD;

  }

  evaluate_state(); // evaluate state

}

// create connected components and pick a leader for each chain

// use modified Prim's alogrithm to find local spanning tree

// CURRENTLY JUST LOOKS FOR CLOSEST ROBOT TO FOLLOW

void lemmings_Prims(void) {

  int nodeA = wl_get_xbee_id(); // get id of current robot

  int nodeB = -1;

  int cur_weight = -1;

  int best_weight = 1000; // set to infinity initially

  int best_node = -1;

  // iterate through token ring

  wl_token_iterator_begin();

  while(wl_token_iterator_has_next()) {

    nodeB = wl_token_iterator_next();

    if (nodeB < 0)

      break; // no more bots

    else if (nodeB == nodeA)

      continue; // can't follow self

    cur_weight = lemmings_get_edge_weight(nodeA,nodeB);

    if (cur_weight < best_weight) {

      // this is new best node, so save values

      best_weight = cur_weight;

      best_node = nodeB;

    }

  }

  if (best_node == -1 || (best_weight > 5 && nodeA < nodeB)) {

    // no robots to follow, or choosing to be a leader

    cur_state = LEAD;

    follow_bot = -1;

  }

  else {

    // follow bot

    cur_state = FOLLOW;

    follow_bot = nodeB;

  }

}

// get edge weight of sensor matrix

// add in BOM range data when BOM 1.5 comes out

int lemmings_get_edge_weight(int robot1, int robot2) {

  int weight = 0;

  int bom = wl_token_get_sensor_reading(robot1,robot2);

  // since we only have positioning data, give better weight to

  // bots in from of us

  switch(bom) {

  case 12:

    weight++;

  case 13:

  case 11:

    weight++;

  case 14:

  case 10:

    weight++;

  case 15:

  case 9:

    weight++;

  case 0:

  case 8:

    weight++;

  case 1:

  case 7:

    weight++;

  case 2:

  case 6:

    weight++;

  case 3:

  case 5:

    weight++;

  case 4:

    break;

  default:

    weight = -1;

    break;

  }

  return weight;

}

//Acts on state change.

void lemmings_evaluate_state(){

    switch(cur_state){

    case(LEAD): 

      run_around_FSM(); // do random run around

      break;

    case(FOLLOW): 

      move_avoid(200,follow_direction,33); // move in direction of bot

      break;

    default:

      /*Should never get here, go strait.*/

      move(200,0);

      break;

  }

}