Revision 672
merged orbit branch (orbit, bfs) with trunk
trunk/code/behaviors/bfs_fsm/bfs_fsm.c | ||
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#include <dragonfly_lib.h> |
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#include <wireless.h> |
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#include <wl_token_ring.h> |
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#include "queue.h" |
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#include <string.h> |
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#include "bfs_fsm.h" |
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#include "smart_run_around_fsm.h" |
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#include "orbit_fsm.h" |
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/* Used to find a robot (or other object) |
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Uses bom and token ring |
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Assumes: |
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robots are already in a token ring |
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*/ |
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/* private function prototypes */ |
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void bfs_evaluate_state(void); |
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int bfs_follow(void); |
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/* init */ |
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void bfs_init(int robot) { |
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range_init(); |
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analog_init(1); |
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motors_init(); |
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orb_init(); |
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orb_enable(); |
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usb_init(); |
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run_around_init(); |
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/*Start in the start state, BFS_SEEK */ |
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bfs_state = BFS_SEEK; |
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bfs_otherRobot = robot; // set which robot to seek |
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bfs_my_id = wl_get_xbee_id(); |
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bfs_follow_id = -1; |
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bfs_pControl=0; |
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bfs_bom = 0; |
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bfs_bom_count = 0; |
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/*Initialize distances to zero.*/ |
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bfs_d1=1000; bfs_d2=1000; bfs_d3=1000; bfs_d4=1000; bfs_d5=1000; |
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} |
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/*The main function, call this to update states as frequently as possible.*/ |
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void bfs_fsm(void) { |
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/*The following lines ensure that undefined (-1) values |
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will not update the distances.*/ |
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int temp; |
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wl_do(); // update wireless |
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usb_puts("\n\rwl_do"); |
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usb_puts("|state="); |
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usb_puti(bfs_state); |
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usb_puts("|"); |
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if (bfs_state == BFS_SEEK) { |
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bfs_follow_id = bfs_follow(); |
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wl_do(); // update wireless |
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usb_puti(bfs_follow_id); |
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if (bfs_follow_id != BFS_NO_VAL && bfs_follow_id < BFS_MAX_ROBOTS) { |
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bfs_state = BFS_FOLLOW; // move to follow state |
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bfs_d2=1000; |
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} |
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} |
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if (bfs_state == BFS_FOLLOW) { |
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// get bom reading |
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temp = wl_token_get_my_sensor_reading(bfs_follow_id); |
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if (temp == -1 || temp > 16) { |
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bfs_bom_count++; |
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if (bfs_bom_count > BFS_MAX_BOM_COUNT) { |
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bfs_state = BFS_SEEK; |
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bfs_bom = 255; |
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bfs_bom_count = 0; |
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} |
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} |
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else { |
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bfs_bom = temp; |
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// modify bom reading so right is negative, left is positive |
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if (bfs_bom <= 12) |
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bfs_bom -= 4; |
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else |
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bfs_bom -= 20; |
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bfs_pControl = bfs_bom*4; |
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usb_puti(bfs_bom); |
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// get range reading for front |
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temp=range_read_distance(IR2); |
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bfs_d2=(temp == -1) ? bfs_d2 : temp; |
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usb_puti(bfs_d2); |
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if (bfs_d2 < BFS_ORBIT_DISTANCE) { |
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bfs_state = BFS_ORBIT; // move to orbit state |
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orbit_init(bfs_follow_id); |
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bfs_d2=1000; |
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} |
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} |
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} |
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if (bfs_state == BFS_ORBIT) { |
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usb_puts("orbiting\n"); |
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while(orbit_state != ORBIT_STOP) |
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{ orbit_fsm(); } |
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bfs_state = BFS_STOP; // move to stop state |
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} |
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// evaluate state |
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bfs_evaluate_state(); |
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} |
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//Acts on state change. |
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void bfs_evaluate_state(){ |
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switch(bfs_state){ |
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case(BFS_SEEK): orb_set_color(RED); |
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// move around |
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run_around_FSM(); // note: better to just incorporate into this file later one |
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break; |
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case(BFS_FOLLOW): orb_set_color(GREEN); |
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// follow another robot |
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move(BFS_STRAIGHT_SPEED,bfs_pControl); |
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break; |
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case(BFS_ORBIT): //orb_set_color(BLUE); |
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// orbit a robot |
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//orbit_fsm(); |
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//move(0,0); |
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break; |
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case(BFS_STOP): orb_set_color(YELLOW); |
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// stop |
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move(0,0); |
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break; |
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default: orb_set_color(MAGENTA); |
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/*Should never get here, so stop.*/ |
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move(0,0); |
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break; |
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} |
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} |
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/* find a robot to follow using BFS |
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ported from colonybfs by Felix |
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*/ |
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int bfs_follow() |
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{ |
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/* pseudocode for BFS |
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procedure bfs(v) |
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q := make_queue() |
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enqueue(q,v) |
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mark v as visited |
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while q is not empty |
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v = dequeue(q) |
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process v |
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for all unvisited vertices v' adjacent to v |
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mark v' as visited |
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enqueue(q,v') |
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*/ |
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Queue* q = queue_create(); |
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//int num_current_robots = wl_token_get_robots_in_ring(); |
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// keep track of which nodes you have visited. Indexed by robot # |
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// 1 if visited, 0 if not |
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unsigned char visited_nodes[BFS_MAX_ROBOTS]; |
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// keep track of the distance from the start robot to other robots |
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// also indexed by robot# |
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unsigned char node_distances[BFS_MAX_ROBOTS]; |
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// this is the path you take |
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unsigned char path[BFS_MAX_ROBOTS]; |
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//variables you will need |
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unsigned char current_node; //current node |
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unsigned char current_neighbour_node; //neighbor to the current node |
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unsigned char current_neighbour_val; //value of that neighbour's sensors |
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unsigned char current_distance; //keep track of current distance to the start |
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unsigned char large_number = 255; |
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unsigned char* add_value; |
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//set visited nodes to all 0 |
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memset(visited_nodes, 0, BFS_MAX_ROBOTS); |
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//set all the distances to a very large number |
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//this isn't technically necessary, but it's probably a good thing -- just in case |
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memset(node_distances, large_number, BFS_MAX_ROBOTS); |
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//set the path to all LARGE_NUMBER as well |
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memset(path, BFS_NO_VAL, BFS_MAX_ROBOTS); |
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//queue_remove_all(q); |
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//add the start node |
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add_value = (unsigned char*)malloc(sizeof(char)); |
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(*add_value) = bfs_my_id; |
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queue_add(q, add_value); |
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visited_nodes[bfs_my_id] = 1; |
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node_distances[bfs_my_id] = 0; |
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while(!queue_is_empty(q)){ |
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add_value = queue_remove(q); |
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current_node = (*add_value); |
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//get the current distance from you to the start |
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current_distance = node_distances[current_node]; |
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//this node is on your 'path' |
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path[current_distance] = current_node; |
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//note: it's OK if this path leads nowhere -- the path will be |
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//overwritten by a node that does lead to the goal |
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//(if there is no path, we set path to null anyways) |
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//from now on, all further nodes will be one further away -- increment |
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current_distance++; |
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//process node -- basically check if it's the goal |
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if(current_node == bfs_otherRobot) { |
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//you reach the goal |
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//return the first robot in the path, which is the one |
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//to follow |
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/* |
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lcd_putchar('.'); |
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lcd_putchar('.'); |
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for(i = 0; i < MAX_ROBOTS; i++) |
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lcd_putchar(path[i] +48); //print out the path for fun -- remove this later |
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lcd_putchar('.'); |
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lcd_putchar('.'); |
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*/ |
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return path[1]; //path[0] is you. path[1] is who you want to follow |
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} |
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// go through all nodes adjacent to current |
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// in effect, this means going through the current node's row in the matrix |
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wl_token_iterator_begin(); |
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while(wl_token_iterator_has_next()) { |
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//the robot # is actually just the index |
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current_neighbour_node = wl_token_iterator_next(); |
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//the value is what is stored in the matrix (this is important) |
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current_neighbour_val = wl_token_get_sensor_reading(current_node,current_neighbour_node); |
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//check for connected-ness and that it was not visited |
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// unconnected visited |
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if( (current_neighbour_val == BFS_NO_VAL) || (visited_nodes[current_neighbour_node]) ) { |
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//if it is either unconnected or previously visited, exit |
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continue; //go to the next node |
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} |
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//update the distance from the start node to this node |
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node_distances[current_neighbour_node] = current_distance; |
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//also mark it as visited |
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visited_nodes[current_neighbour_node] = 1; |
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//also enqueue each neighbour |
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add_value = (unsigned char*)malloc(sizeof(char)); |
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(*add_value) = current_neighbour_node; |
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queue_add(q, add_value); |
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} |
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} |
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//if we get to here, there is no path |
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memset(path, 0, BFS_MAX_ROBOTS); |
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return BFS_NO_VAL; |
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} |
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trunk/code/behaviors/bfs_fsm/decoy/decoy.c | ||
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/** driver for orbit code |
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sit and activate bom, let other robot orbit this |
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*/ |
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#include <dragonfly_lib.h> |
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#include <wireless.h> |
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#include <wl_token_ring.h> |
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int main(void) { |
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// enable everything |
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dragonfly_init(ALL_ON); |
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orb_enable(); |
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orb_init(); |
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orb_set_color(PURPLE); |
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wl_init(); |
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wl_token_ring_register(); |
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wl_token_ring_join(); // join token ring |
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usb_init(); |
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usb_puts("start"); |
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usb_puti(wl_get_xbee_id()); |
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usb_puts("end"); |
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while(1) { |
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wl_do(); |
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} |
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orb_set_color(RED); |
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return 0; |
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} |
trunk/code/behaviors/bfs_fsm/decoy/Makefile | ||
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########Update This Section######## |
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# |
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# |
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# Relative path to the root directory (containing lib directory) |
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ifndef COLONYROOT |
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COLONYROOT = ../../../.. |
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endif |
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# Target file name (without extension). |
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TARGET = template |
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# Uncomment this to use the wireless library |
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USE_WIRELESS = 1 |
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# com1 = serial port. Use lpt1 to connect to parallel port. |
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AVRDUDE_PORT = com1 |
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#/dev/tty.usbserial* |
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# |
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# |
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################################### |
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|
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# Hey Emacs, this is a -*- makefile -*- |
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#---------------------------------------------------------------------------- |
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# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
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# |
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# Released to the Public Domain |
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# |
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# Additional material for this makefile was written by: |
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# Peter Fleury |
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# Tim Henigan |
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# Colin O'Flynn |
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# Reiner Patommel |
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# Markus Pfaff |
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# Sander Pool |
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# Frederik Rouleau |
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# |
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#---------------------------------------------------------------------------- |
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# On command line: |
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# |
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# make all = Make software. |
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# |
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# make clean = Clean out built project files. |
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# |
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# make coff = Convert ELF to AVR COFF. |
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# |
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# make extcoff = Convert ELF to AVR Extended COFF. |
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48 |
# |
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# make program = Download the hex file to the device, using avrdude. |
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# Please customize the avrdude settings below first! |
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# |
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# make debug = Start either simulavr or avarice as specified for debugging, |
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# with avr-gdb or avr-insight as the front end for debugging. |
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# |
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# make filename.s = Just compile filename.c into the assembler code only. |
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# |
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# make filename.i = Create a preprocessed source file for use in submitting |
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# bug reports to the GCC project. |
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# |
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# To rebuild project do "make clean" then "make all". |
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#---------------------------------------------------------------------------- |
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62 |
|
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#if you want your code to work on the Firefly++ and not Firefly+ |
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#then add the -DFFPP line to CDEFS |
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CDEFS = |
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#-DFFPP |
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67 |
|
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# MCU name |
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69 |
MCU = atmega128 |
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70 |
|
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71 |
# Processor frequency. |
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72 |
# This will define a symbol, F_CPU, in all source code files equal to the |
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# processor frequency. You can then use this symbol in your source code to |
|
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# calculate timings. Do NOT tack on a 'UL' at the end, this will be done |
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# automatically to create a 32-bit value in your source code. |
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76 |
F_CPU = 8000000 |
|
77 |
|
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# Output format. (can be srec, ihex, binary) |
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79 |
FORMAT = ihex |
|
80 |
|
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81 |
# List C source files here. (C dependencies are automatically generated.) |
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82 |
SRC = $(wildcard *.c) |
|
83 |
|
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84 |
# List Assembler source files here. |
|
85 |
# Make them always end in a capital .S. Files ending in a lowercase .s |
|
86 |
# will not be considered source files but generated files (assembler |
|
87 |
# output from the compiler), and will be deleted upon "make clean"! |
|
88 |
# Even though the DOS/Win* filesystem matches both .s and .S the same, |
|
89 |
# it will preserve the spelling of the filenames, and gcc itself does |
|
90 |
# care about how the name is spelled on its command-line. |
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91 |
ASRC = |
|
92 |
|
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93 |
# Optimization level, can be [0, 1, 2, 3, s]. |
|
94 |
# 0 = turn off optimization. s = optimize for size. |
|
95 |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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96 |
OPT = s |
|
97 |
|
|
98 |
# Debugging format. |
|
99 |
# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
|
100 |
# AVR Studio 4.10 requires dwarf-2. |
|
101 |
# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
|
102 |
DEBUG = |
|
103 |
|
|
104 |
# Compiler flag to set the C Standard level. |
|
105 |
# c89 = "ANSI" C |
|
106 |
# gnu89 = c89 plus GCC extensions |
|
107 |
# c99 = ISO C99 standard (not yet fully implemented) |
|
108 |
# gnu99 = c99 plus GCC extensions |
|
109 |
CSTANDARD = -std=gnu99 |
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110 |
|
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111 |
# Place -D or -U options here |
|
112 |
CDEFS += -DF_CPU=$(F_CPU)UL |
|
113 |
CDEFS += -DFFP |
|
114 |
# for wireless library |
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115 |
ifdef USE_WIRELESS |
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116 |
CDEFS += -DROBOT |
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117 |
endif |
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118 |
|
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119 |
# Place -I, -L options here |
|
120 |
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly |
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121 |
CINCS += -L$(COLONYROOT)/code/lib/bin |
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ifdef USE_WIRELESS |
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123 |
CINCS += -I$(COLONYROOT)/code/lib/include/libwireless #-I$(COLONYROOT)/code/projects/colonet/lib -I$(COLONYROOT)/code/projects/colonet/lib/colonet_dragonfly |
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124 |
endif |
|
125 |
|
|
126 |
#---------------- Compiler Options ---------------- |
|
127 |
# -g*: generate debugging information |
|
128 |
# -O*: optimization level |
|
129 |
# -f...: tuning, see GCC manual and avr-libc documentation |
|
130 |
# -Wall...: warning level |
|
131 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
132 |
# -adhlns...: create assembler listing |
|
133 |
CFLAGS = |
|
134 |
# CFLAGS = -g$(DEBUG) |
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135 |
CFLAGS += $(CDEFS) $(CINCS) |
|
136 |
CFLAGS += -O$(OPT) |
|
137 |
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
|
138 |
CFLAGS += -Wall -Wstrict-prototypes |
|
139 |
CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
|
140 |
CFLAGS += $(CSTANDARD) |
|
141 |
|
|
142 |
#---------------- Assembler Options ---------------- |
|
143 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
144 |
# -ahlms: create listing |
|
145 |
# -gstabs: have the assembler create line number information; note that |
|
146 |
# for use in COFF files, additional information about filenames |
|
147 |
# and function names needs to be present in the assembler source |
|
148 |
# files -- see avr-libc docs [FIXME: not yet described there] |
|
149 |
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
|
150 |
|
|
151 |
|
|
152 |
#---------------- Library Options ---------------- |
|
153 |
# Minimalistic printf version |
|
154 |
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
|
155 |
|
|
156 |
# Floating point printf version (requires MATH_LIB = -lm below) |
|
157 |
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
|
158 |
|
|
159 |
# If this is left blank, then it will use the Standard printf version. |
|
160 |
PRINTF_LIB = |
|
161 |
#PRINTF_LIB = $(PRINTF_LIB_MIN) |
|
162 |
#PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
|
163 |
|
|
164 |
|
|
165 |
# Minimalistic scanf version |
|
166 |
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
|
167 |
|
|
168 |
# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
|
169 |
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
|
170 |
|
|
171 |
# If this is left blank, then it will use the Standard scanf version. |
|
172 |
SCANF_LIB = |
|
173 |
#SCANF_LIB = $(SCANF_LIB_MIN) |
|
174 |
#SCANF_LIB = $(SCANF_LIB_FLOAT) |
|
175 |
|
|
176 |
MATH_LIB = -lm |
|
177 |
|
|
178 |
#---------------- External Memory Options ---------------- |
|
179 |
|
|
180 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
181 |
# used for variables (.data/.bss) and heap (malloc()). |
|
182 |
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
|
183 |
|
|
184 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
185 |
# only used for heap (malloc()). |
|
186 |
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
|
187 |
|
|
188 |
EXTMEMOPTS = |
|
189 |
|
|
190 |
#---------------- Linker Options ---------------- |
|
191 |
# -Wl,...: tell GCC to pass this to linker. |
|
192 |
# -Map: create map file |
|
193 |
# --cref: add cross reference to map file |
|
194 |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
|
195 |
LDFLAGS += $(EXTMEMOPTS) |
|
196 |
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
|
197 |
ifdef USE_WIRELESS |
|
198 |
LDFLAGS += -lwireless #-lcolonet_dragonfly |
|
199 |
endif |
|
200 |
LDFLAGS += -ldragonfly |
|
201 |
|
|
202 |
|
|
203 |
|
|
204 |
#---------------- Programming Options (avrdude) ---------------- |
|
205 |
|
|
206 |
# Programming hardware: alf avr910 avrisp bascom bsd |
|
207 |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
|
208 |
# |
|
209 |
# Type: avrdude -c ? |
|
210 |
# to get a full listing. |
|
211 |
# |
|
212 |
AVRDUDE_PROGRAMMER = avrisp |
|
213 |
|
|
214 |
# programmer connected to serial device |
|
215 |
|
|
216 |
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
|
217 |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
|
218 |
|
|
219 |
|
|
220 |
# Uncomment the following if you want avrdude's erase cycle counter. |
|
221 |
# Note that this counter needs to be initialized first using -Yn, |
|
222 |
# see avrdude manual. |
|
223 |
#AVRDUDE_ERASE_COUNTER = -y |
|
224 |
|
|
225 |
# Uncomment the following if you do /not/ wish a verification to be |
|
226 |
# performed after programming the device. |
|
227 |
#AVRDUDE_NO_VERIFY = -V |
|
228 |
|
|
229 |
# Increase verbosity level. Please use this when submitting bug |
|
230 |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
|
231 |
# to submit bug reports. |
|
232 |
#AVRDUDE_VERBOSE = -v -v |
|
233 |
|
|
234 |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
|
235 |
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
|
236 |
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
|
237 |
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
|
238 |
|
|
239 |
#don't check for device signature |
|
240 |
AVRDUDE_FLAGS += -F |
|
241 |
|
|
242 |
|
|
243 |
|
|
244 |
#---------------- Debugging Options ---------------- |
|
245 |
|
|
246 |
# For simulavr only - target MCU frequency. |
|
247 |
DEBUG_MFREQ = $(F_CPU) |
|
248 |
|
|
249 |
# Set the DEBUG_UI to either gdb or insight. |
|
250 |
# DEBUG_UI = gdb |
|
251 |
DEBUG_UI = insight |
|
252 |
|
|
253 |
# Set the debugging back-end to either avarice, simulavr. |
|
254 |
DEBUG_BACKEND = avarice |
|
255 |
#DEBUG_BACKEND = simulavr |
|
256 |
|
|
257 |
# GDB Init Filename. |
|
258 |
GDBINIT_FILE = __avr_gdbinit |
|
259 |
|
|
260 |
# When using avarice settings for the JTAG |
|
261 |
JTAG_DEV = /dev/com1 |
|
262 |
|
|
263 |
# Debugging port used to communicate between GDB / avarice / simulavr. |
|
264 |
DEBUG_PORT = 4242 |
|
265 |
|
|
266 |
# Debugging host used to communicate between GDB / avarice / simulavr, normally |
|
267 |
# just set to localhost unless doing some sort of crazy debugging when |
|
268 |
# avarice is running on a different computer. |
|
269 |
DEBUG_HOST = localhost |
|
270 |
|
|
271 |
|
|
272 |
|
|
273 |
#============================================================================ |
|
274 |
|
|
275 |
|
|
276 |
# Define programs and commands. |
|
277 |
SHELL = sh |
|
278 |
CC = avr-gcc |
|
279 |
OBJCOPY = avr-objcopy |
|
280 |
OBJDUMP = avr-objdump |
|
281 |
SIZE = avr-size |
|
282 |
NM = avr-nm |
|
283 |
AVRDUDE = avrdude |
|
284 |
REMOVE = rm -f |
|
285 |
REMOVEDIR = rm -rf |
|
286 |
COPY = cp |
|
287 |
WINSHELL = cmd |
|
288 |
|
|
289 |
|
|
290 |
# Define Messages |
|
291 |
# English |
|
292 |
MSG_ERRORS_NONE = Errors: none |
|
293 |
MSG_BEGIN = -------- begin -------- |
|
294 |
MSG_END = -------- end -------- |
|
295 |
MSG_SIZE_BEFORE = Size before: |
|
296 |
MSG_SIZE_AFTER = Size after: |
|
297 |
MSG_COFF = Converting to AVR COFF: |
|
298 |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
|
299 |
MSG_FLASH = Creating load file for Flash: |
|
300 |
MSG_EEPROM = Creating load file for EEPROM: |
|
301 |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
|
302 |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
|
303 |
MSG_LINKING = Linking: |
|
304 |
MSG_COMPILING = Compiling: |
|
305 |
MSG_ASSEMBLING = Assembling: |
|
306 |
MSG_CLEANING = Cleaning project: |
|
307 |
|
|
308 |
|
|
309 |
|
|
310 |
|
|
311 |
# Define all object files. |
|
312 |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
|
313 |
|
|
314 |
# Define all listing files. |
|
315 |
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
|
316 |
|
|
317 |
|
|
318 |
# Compiler flags to generate dependency files. |
|
319 |
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
|
320 |
|
|
321 |
|
|
322 |
# Combine all necessary flags and optional flags. |
|
323 |
# Add target processor to flags. |
|
324 |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
|
325 |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
|
326 |
|
|
327 |
|
|
328 |
|
|
329 |
|
|
330 |
|
|
331 |
# Default target. |
|
332 |
all: begin gccversion sizebefore build sizeafter end |
|
333 |
|
|
334 |
build: elf hex eep lss sym |
|
335 |
|
|
336 |
elf: $(TARGET).elf |
|
337 |
hex: $(TARGET).hex |
|
338 |
eep: $(TARGET).eep |
|
339 |
lss: $(TARGET).lss |
|
340 |
sym: $(TARGET).sym |
|
341 |
|
|
342 |
|
|
343 |
|
|
344 |
# Eye candy. |
|
345 |
# AVR Studio 3.x does not check make's exit code but relies on |
|
346 |
# the following magic strings to be generated by the compile job. |
|
347 |
begin: |
|
348 |
@echo |
|
349 |
@echo $(MSG_BEGIN) |
|
350 |
|
|
351 |
end: |
|
352 |
@echo $(MSG_END) |
|
353 |
@echo |
|
354 |
|
|
355 |
|
|
356 |
# Display size of file. |
|
357 |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
|
358 |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
|
359 |
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
|
360 |
|
|
361 |
sizebefore: |
|
362 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
|
363 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
364 |
|
|
365 |
sizeafter: |
|
366 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
|
367 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
368 |
|
|
369 |
|
|
370 |
|
|
371 |
# Display compiler version information. |
|
372 |
gccversion : |
|
373 |
@$(CC) --version |
|
374 |
|
|
375 |
|
|
376 |
|
|
377 |
# Program the device. |
|
378 |
program: $(TARGET).hex $(TARGET).eep |
|
379 |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
|
380 |
|
|
381 |
|
|
382 |
# Generate avr-gdb config/init file which does the following: |
|
383 |
# define the reset signal, load the target file, connect to target, and set |
|
384 |
# a breakpoint at main(). |
|
385 |
gdb-config: |
|
386 |
@$(REMOVE) $(GDBINIT_FILE) |
|
387 |
@echo define reset >> $(GDBINIT_FILE) |
|
388 |
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
|
389 |
@echo end >> $(GDBINIT_FILE) |
|
390 |
@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
|
391 |
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
|
392 |
ifeq ($(DEBUG_BACKEND),simulavr) |
|
393 |
@echo load >> $(GDBINIT_FILE) |
|
394 |
endif |
|
395 |
@echo break main >> $(GDBINIT_FILE) |
|
396 |
|
|
397 |
debug: gdb-config $(TARGET).elf |
|
398 |
ifeq ($(DEBUG_BACKEND), avarice) |
|
399 |
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
|
400 |
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
|
401 |
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
|
402 |
@$(WINSHELL) /c pause |
|
403 |
|
|
404 |
else |
|
405 |
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
|
406 |
$(DEBUG_MFREQ) --port $(DEBUG_PORT) |
|
407 |
endif |
|
408 |
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
|
409 |
|
|
410 |
|
|
411 |
|
|
412 |
|
|
413 |
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
|
414 |
COFFCONVERT=$(OBJCOPY) --debugging \ |
|
415 |
--change-section-address .data-0x800000 \ |
|
416 |
--change-section-address .bss-0x800000 \ |
|
417 |
--change-section-address .noinit-0x800000 \ |
|
418 |
--change-section-address .eeprom-0x810000 |
|
419 |
|
|
420 |
|
|
421 |
coff: $(TARGET).elf |
|
422 |
@echo |
|
423 |
@echo $(MSG_COFF) $(TARGET).cof |
|
424 |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
|
425 |
|
|
426 |
|
|
427 |
extcoff: $(TARGET).elf |
|
428 |
@echo |
|
429 |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
|
430 |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
|
431 |
|
|
432 |
|
|
433 |
|
|
434 |
# Create final output files (.hex, .eep) from ELF output file. |
|
435 |
%.hex: %.elf |
|
436 |
@echo |
|
437 |
@echo $(MSG_FLASH) $@ |
|
438 |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
|
439 |
|
|
440 |
%.eep: %.elf |
|
441 |
@echo |
|
442 |
@echo $(MSG_EEPROM) $@ |
|
443 |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
|
444 |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
|
445 |
|
|
446 |
# Create extended listing file from ELF output file. |
|
447 |
%.lss: %.elf |
|
448 |
@echo |
|
449 |
@echo $(MSG_EXTENDED_LISTING) $@ |
|
450 |
$(OBJDUMP) -h -S $< > $@ |
|
451 |
|
|
452 |
# Create a symbol table from ELF output file. |
|
453 |
%.sym: %.elf |
|
454 |
@echo |
|
455 |
@echo $(MSG_SYMBOL_TABLE) $@ |
|
456 |
$(NM) -n $< > $@ |
|
457 |
|
|
458 |
|
|
459 |
|
|
460 |
# Link: create ELF output file from object files. |
|
461 |
.SECONDARY : $(TARGET).elf |
|
462 |
.PRECIOUS : $(OBJ) |
|
463 |
%.elf: $(OBJ) |
|
464 |
@echo |
|
465 |
@echo $(MSG_LINKING) $@ |
|
466 |
$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
|
467 |
|
|
468 |
|
|
469 |
# Compile: create object files from C source files. |
|
470 |
%.o : %.c |
|
471 |
@echo |
|
472 |
@echo $(MSG_COMPILING) $< |
|
473 |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
|
474 |
|
|
475 |
|
|
476 |
# Compile: create assembler files from C source files. |
|
477 |
%.s : %.c |
|
478 |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
|
479 |
|
|
480 |
|
|
481 |
# Assemble: create object files from assembler source files. |
|
482 |
%.o : %.S |
|
483 |
@echo |
|
484 |
@echo $(MSG_ASSEMBLING) $< |
|
485 |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
|
486 |
|
|
487 |
# Create preprocessed source for use in sending a bug report. |
|
488 |
%.i : %.c |
|
489 |
$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
|
490 |
|
|
491 |
|
|
492 |
# Target: clean project. |
|
493 |
clean: begin clean_list end |
|
494 |
|
|
495 |
clean_list : |
|
496 |
@echo |
|
497 |
@echo $(MSG_CLEANING) |
|
498 |
$(REMOVE) $(TARGET).hex |
|
499 |
$(REMOVE) $(TARGET).eep |
|
500 |
$(REMOVE) $(TARGET).cof |
|
501 |
$(REMOVE) $(TARGET).elf |
|
502 |
$(REMOVE) $(TARGET).map |
|
503 |
$(REMOVE) $(TARGET).sym |
|
504 |
$(REMOVE) $(TARGET).lss |
|
505 |
$(REMOVE) $(OBJ) |
|
506 |
$(REMOVE) $(LST) |
|
507 |
$(REMOVE) $(SRC:.c=.s) |
|
508 |
$(REMOVE) $(SRC:.c=.d) |
|
509 |
$(REMOVEDIR) .dep |
|
510 |
|
|
511 |
|
|
512 |
|
|
513 |
# Include the dependency files. |
|
514 |
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
|
515 |
|
|
516 |
|
|
517 |
# Listing of phony targets. |
|
518 |
.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
|
519 |
build elf hex eep lss sym coff extcoff \ |
|
520 |
clean clean_list program debug gdb-config |
|
521 |
|
trunk/code/behaviors/bfs_fsm/bfs_fsm.h | ||
---|---|---|
1 |
// BFS FSM header file |
|
2 |
|
|
3 |
|
|
4 |
#ifndef _BFS_FSM_H_ |
|
5 |
#define _BFS_FSM_H_ |
|
6 |
|
|
7 |
//The States: |
|
8 |
#define BFS_SEEK 12 //do run around |
|
9 |
#define BFS_FOLLOW 13 //follow other robots to location |
|
10 |
#define BFS_ORBIT 15 //Orbit robot |
|
11 |
#define BFS_STOP 16 //Stop. The default and ending state |
|
12 |
|
|
13 |
|
|
14 |
#define BFS_STRAIGHT_SPEED 160 |
|
15 |
|
|
16 |
#define BFS_ORBIT_DISTANCE 120 /* distance to start orbit around robot */ |
|
17 |
|
|
18 |
#define BFS_STOP_DISTANCE 100 /* distance to stop for object */ |
|
19 |
|
|
20 |
#define BFS_MAX_ROBOTS 20 /* max id of robot in project */ |
|
21 |
|
|
22 |
#define BFS_NO_VAL 255 |
|
23 |
|
|
24 |
|
|
25 |
|
|
26 |
int bfs_state; /*State machine variable.*/ |
|
27 |
|
|
28 |
int bfs_otherRobot; /* the robot we are seeking */ |
|
29 |
int bfs_my_id; /* my wireless id */ |
|
30 |
int bfs_follow_id; /* robot to follow */ |
|
31 |
|
|
32 |
|
|
33 |
int bfs_pControl; /*Proportional control variable, determines turn direction.*/ |
|
34 |
int bfs_d1,bfs_d2,bfs_d3,bfs_d4,bfs_d5; /*The five distances taken in by IR.*/ |
|
35 |
int bfs_bom; /* bom data */ |
|
36 |
int bfs_bom_count; |
|
37 |
|
|
38 |
#define BFS_MAX_BOM_COUNT 5 /* number of missing bom packets before reverting to seek state */ |
|
39 |
|
|
40 |
/* bfs_init |
|
41 |
argument: robot_id that you want to find |
|
42 |
notes: must call before bfs_fsm |
|
43 |
*/ |
|
44 |
void bfs_init(int robot); |
|
45 |
|
|
46 |
|
|
47 |
/* bfs_fsm |
|
48 |
argument: none |
|
49 |
notes: call in a while loop to perform FSM action |
|
50 |
*/ |
|
51 |
void bfs_fsm(void); |
|
52 |
|
|
53 |
#endif |
trunk/code/behaviors/bfs_fsm/orbit_fsm.c | ||
---|---|---|
1 |
#include <dragonfly_lib.h> |
|
2 |
#include <wireless.h> |
|
3 |
#include <wl_token_ring.h> |
|
4 |
#include "orbit_fsm.h" |
|
5 |
#include "bfs_fsm.h" |
|
6 |
|
|
7 |
/* Used to orbit a robot |
|
8 |
|
|
9 |
Must be within BOM range of robot before activating |
|
10 |
|
|
11 |
orbit_theta_stop requires encoders, and is incomplete |
|
12 |
|
|
13 |
Assumes: |
|
14 |
both robots are already in a token ring |
|
15 |
*/ |
|
16 |
|
|
17 |
|
|
18 |
/* private function prototype */ |
|
19 |
void orbit_evaluate_state(void); |
|
20 |
|
|
21 |
|
|
22 |
/* primary init */ |
|
23 |
void orbit_init(int robot) { |
|
24 |
//range_init(); |
|
25 |
//analog_init(1); |
|
26 |
//motors_init(); |
|
27 |
//orb_init(); |
|
28 |
//orb_enable(); |
|
29 |
//usb_init(); |
|
30 |
|
|
31 |
/*Start in the start state, ORBIT_SEEK */ |
|
32 |
orbit_state = ORBIT_INSERTION; |
|
33 |
|
|
34 |
orbit_otherRobot = robot; // set which robot to seek and orbit |
|
35 |
|
|
36 |
orbit_pControl=0; |
|
37 |
orbit_bom = bfs_bom; |
|
38 |
orbit_theta = 0; |
|
39 |
orbit_theta_stop = 1000; |
|
40 |
|
|
41 |
/*Initialize distances to zero.*/ |
|
42 |
orbit_d1=1000; orbit_d2=1000; orbit_d3=1000; orbit_d4=1000; orbit_d5=1000; |
|
43 |
|
|
44 |
} |
|
45 |
/* secondary init */ |
|
46 |
void orbit_init_theta(int robot,int theta) { |
|
47 |
//range_init(); |
|
48 |
//analog_init(1); |
|
49 |
//motors_init(); |
|
50 |
//orb_init(); |
|
51 |
//orb_enable(); |
|
52 |
//usb_init(); |
|
53 |
|
|
54 |
/*Start in the start state, ORBIT_INSERTION */ |
|
55 |
orbit_state = ORBIT_INSERTION; |
|
56 |
|
|
57 |
orbit_otherRobot = robot; // set which robot to seek and orbit |
|
58 |
|
|
59 |
orbit_pControl=0; |
|
60 |
orbit_bom = bfs_bom; |
|
61 |
orbit_theta = 0; |
|
62 |
orbit_theta_stop = (theta>0)?theta:-1; // check theta_stop |
|
63 |
|
|
64 |
/*Initialize distances to zero.*/ |
|
65 |
orbit_d1=1000; orbit_d2=1000; orbit_d3=1000; orbit_d4=1000; orbit_d5=1000; |
|
66 |
|
|
67 |
} |
|
68 |
|
|
69 |
/*The main function, call this to update states as frequently as possible.*/ |
|
70 |
void orbit_fsm(void) { |
|
71 |
|
|
72 |
/*The following lines ensure that undefined (-1) values |
|
73 |
will not update the distances.*/ |
|
74 |
int temp; |
|
75 |
|
|
76 |
//temp=range_read_distance(IR1); |
|
77 |
//orbit_d1=(temp == -1) ? orbit_d1 : temp; |
|
78 |
|
|
79 |
temp=range_read_distance(IR2); |
|
80 |
orbit_d2=(temp == -1) ? orbit_d2 : temp; |
|
81 |
|
|
82 |
//temp=range_read_distance(IR3); |
|
83 |
//orbit_d3=(temp == -1) ? orbit_d3 : temp; |
|
84 |
|
|
85 |
//temp=range_read_distance(IR4); |
|
86 |
//orbit_d4=(temp == -1) ? orbit_d4 : temp; |
|
87 |
|
|
88 |
//temp=range_read_distance(IR5); |
|
89 |
//orbit_d5=(temp == -1) ? orbit_d5 : temp; |
|
90 |
|
|
91 |
wl_do(); // update wireless |
|
92 |
|
|
93 |
// get bom reading |
|
94 |
temp = wl_token_get_my_sensor_reading(orbit_otherRobot); |
|
95 |
orbit_bom = (temp == -1) ? orbit_bom : temp; |
|
96 |
|
|
97 |
// modify bom reading so right is negative, left is positive |
|
98 |
if (orbit_bom <= 12) |
|
99 |
orbit_bom -= 4; |
|
100 |
else |
|
101 |
orbit_bom -= 20; |
|
102 |
|
|
103 |
|
|
104 |
if (orbit_state == ORBIT_SEEK && orbit_d2 < ORBIT_DISTANCE) |
|
105 |
orbit_state = ORBIT_INSERTION; // begin to orbit |
|
106 |
if (orbit_state == ORBIT_INSERTION && |
|
107 |
(orbit_bom == ORBIT_DIRECTION || (orbit_bom + 1) == ORBIT_DIRECTION || (orbit_bom - 1) == ORBIT_DIRECTION)) |
|
108 |
orbit_state = ORBIT_ORBITING; // orbit achieved |
|
109 |
if (orbit_state == ORBIT_ORBITING && ((orbit_d2 < ORBIT_DISTANCE) |
|
110 |
|| (orbit_theta >= orbit_theta_stop))) |
|
111 |
orbit_state = ORBIT_STOP; // orbit obstructed |
|
112 |
|
|
113 |
// evaluate state |
|
114 |
orbit_evaluate_state(); |
|
115 |
} |
|
116 |
|
|
117 |
|
|
118 |
//Acts on state change. |
|
119 |
void orbit_evaluate_state(){ |
|
120 |
switch(orbit_state){ |
|
121 |
case(ORBIT_SEEK): orb_set_color(RED); |
|
122 |
// move towards robot |
|
123 |
orbit_pControl = orbit_bom*10; |
|
124 |
move(ORBIT_STRAIGHT_SPEED,orbit_pControl); |
|
125 |
break; |
|
126 |
|
|
127 |
case(ORBIT_INSERTION): orb_set_color(GREEN); |
|
128 |
// rotate into orbit, perpendicular to other robot |
|
129 |
orbit_pControl = -ORBIT_DIRECTION*10; |
|
130 |
move(ORBIT_STRAIGHT_SPEED/3,orbit_pControl); |
|
131 |
break; |
|
132 |
|
|
133 |
case(ORBIT_ORBITING): orb_set_color(BLUE); |
|
134 |
// go straight with slight rotation |
|
135 |
if (orbit_bom == ORBIT_DIRECTION) |
|
136 |
orbit_pControl = ORBIT_DIRECTION; |
|
137 |
else if (orbit_bom < ORBIT_DIRECTION) |
|
138 |
orbit_pControl = ORBIT_DIRECTION-ORBIT_CORRECTION; |
|
139 |
else |
|
140 |
orbit_pControl = ORBIT_DIRECTION+ORBIT_CORRECTION; |
|
141 |
|
|
142 |
move(ORBIT_STRAIGHT_SPEED,orbit_pControl); |
|
143 |
break; |
|
144 |
|
|
145 |
case(ORBIT_STOP): orb_set_color(YELLOW); |
|
146 |
move(0,0); |
|
147 |
break; |
|
148 |
|
|
149 |
default: orb_set_color(YELLOW); |
|
150 |
/*Should never get here, so stop.*/ |
|
151 |
move(0,0); |
|
152 |
break; |
|
153 |
} |
|
154 |
} |
|
155 |
|
|
156 |
|
trunk/code/behaviors/bfs_fsm/queue.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file queue.c |
|
28 |
* @brief Queue Implementation |
|
29 |
* |
|
30 |
* An implementation of a queue for the colony robots. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
35 |
#include "queue.h" |
|
36 |
#include <wl_defs.h> |
|
37 |
|
|
38 |
#include <stdlib.h> |
|
39 |
#include <stdio.h> |
|
40 |
#ifndef ROBOT |
|
41 |
#include <pthread.h> |
|
42 |
#endif |
|
43 |
|
|
44 |
/** |
|
45 |
* @struct node_def |
|
46 |
* A node in the queue. |
|
47 |
**/ |
|
48 |
typedef struct node_def |
|
49 |
{ |
|
50 |
/** The item at this point in the queue. **/ |
|
51 |
void* val; |
|
52 |
/** The next node in the queue. **/ |
|
53 |
struct node_def* next; |
|
54 |
} Node; |
|
55 |
|
|
56 |
/** |
|
57 |
* Create a queue. |
|
58 |
* |
|
59 |
* @return the newly created queue. |
|
60 |
**/ |
|
61 |
Queue* queue_create() |
|
62 |
{ |
|
63 |
Queue* q = (Queue*)malloc(sizeof(Queue)); |
|
64 |
|
|
65 |
if (q == NULL) |
|
66 |
{ |
|
67 |
WL_DEBUG_PRINT("Out of memory.\r\n"); |
|
68 |
return NULL; |
|
69 |
} |
|
70 |
|
|
71 |
q->head = NULL; |
|
72 |
q->size = 0; |
|
73 |
|
|
74 |
#ifndef ROBOT |
|
75 |
pthread_mutex_init(&(q->lock), NULL); |
|
76 |
#endif |
|
77 |
|
|
78 |
return q; |
|
79 |
} |
|
80 |
|
|
81 |
/** |
|
82 |
* Destroys a queue, freeing memory. |
|
83 |
* |
|
84 |
* @param q the queue to destroy |
|
85 |
**/ |
|
86 |
void queue_destroy(Queue* q) |
|
87 |
{ |
|
88 |
Node* t = q->head; |
|
89 |
while (t != NULL) |
|
90 |
{ |
|
91 |
Node* t2 = t->next; |
|
92 |
free(t); |
|
93 |
t = t2; |
|
94 |
} |
|
95 |
|
|
96 |
#ifndef ROBOT |
|
97 |
pthread_mutex_destroy(&(q->lock)); |
|
98 |
#endif |
|
99 |
|
|
100 |
free(q); |
|
101 |
} |
|
102 |
|
|
103 |
/** |
|
104 |
* Add an element to a queue. |
|
105 |
* |
|
106 |
* @param q the queue to add an element to |
|
107 |
* @param item the item to add to the queue |
|
108 |
**/ |
|
109 |
int queue_add(Queue* q, void* item) |
|
110 |
{ |
|
111 |
#ifndef ROBOT |
|
112 |
pthread_mutex_lock(&(q->lock)); |
|
113 |
#endif |
|
114 |
|
|
115 |
Node* n = (Node*)malloc(sizeof(Node)); |
|
116 |
if (n == NULL) |
|
117 |
{ |
|
118 |
#ifndef ROBOT |
|
119 |
pthread_mutex_unlock(&(q->lock)); |
|
120 |
#endif |
|
121 |
return -1; |
|
122 |
} |
|
123 |
|
|
124 |
n->val = item; |
|
125 |
n->next = NULL; |
|
126 |
|
|
127 |
if (q->head == NULL) |
|
128 |
{ |
|
129 |
q->head = n; |
|
130 |
q->tail = n; |
|
131 |
} |
|
132 |
else |
|
133 |
{ |
|
134 |
|
|
135 |
q->tail->next = n; |
|
136 |
q->tail = n; |
|
137 |
} |
|
138 |
|
|
139 |
q->size++; |
|
140 |
|
|
141 |
#ifndef ROBOT |
|
142 |
pthread_mutex_unlock(&(q->lock)); |
|
143 |
#endif |
|
144 |
|
|
145 |
return 0; |
|
146 |
} |
|
147 |
|
|
148 |
/** |
|
149 |
* Remove an element from the front of a queue. |
|
150 |
* |
|
151 |
* @param q the queue to remove the element from |
|
152 |
* |
|
153 |
* @return the element which was removed |
|
154 |
**/ |
|
155 |
void* queue_remove(Queue* q) |
|
156 |
{ |
|
157 |
#ifndef ROBOT |
|
158 |
pthread_mutex_lock(&(q->lock)); |
|
159 |
#endif |
|
160 |
|
|
161 |
Node* first = q->head; |
|
162 |
if (first == NULL) |
|
163 |
{ |
|
164 |
WL_DEBUG_PRINT("Attempting to remove item \ |
|
165 |
from empty queue.\r\n"); |
|
166 |
WL_DEBUG_PRINT_INT(queue_size(q)); |
|
167 |
#ifndef ROBOT |
|
168 |
pthread_mutex_unlock(&(q->lock)); |
|
169 |
#endif |
|
170 |
return NULL; |
|
171 |
} |
|
172 |
void* ret = first->val; |
|
173 |
q->head = first->next; |
|
174 |
if (q->tail == first) |
|
175 |
q->tail = NULL; |
|
176 |
free(first); |
|
177 |
q->size--; |
|
178 |
|
|
179 |
#ifndef ROBOT |
|
180 |
pthread_mutex_unlock(&(q->lock)); |
|
181 |
#endif |
|
182 |
|
|
183 |
return ret; |
|
184 |
} |
|
185 |
|
|
186 |
/** |
|
187 |
* Remove all instances of a given element from a queue. |
|
188 |
* |
|
189 |
* @param q the queue to remove the elements from |
|
190 |
* @param item the element to remove all instances of |
|
191 |
**/ |
|
192 |
void queue_remove_all(Queue* q, void* item) |
|
193 |
{ |
|
194 |
#ifndef ROBOT |
|
195 |
pthread_mutex_lock(&(q->lock)); |
|
196 |
#endif |
|
197 |
|
|
198 |
Node* curr = q->head; |
|
199 |
Node* prev = NULL; |
|
200 |
|
|
201 |
while (curr != NULL) |
|
202 |
{ |
|
203 |
Node* next = curr->next; |
|
204 |
if (curr->val == item) |
|
205 |
{ |
|
206 |
if (q->head == curr) |
|
207 |
q->head = next; |
|
208 |
if (q->tail == curr) |
|
209 |
q->tail = prev; |
|
210 |
if (prev != NULL) |
|
211 |
prev->next = next; |
|
212 |
free(curr); |
|
213 |
q->size--; |
|
214 |
} |
|
215 |
else |
|
216 |
prev = curr; |
|
217 |
curr = next; |
|
218 |
} |
|
219 |
|
|
220 |
#ifndef ROBOT |
|
221 |
pthread_mutex_unlock(&(q->lock)); |
|
222 |
#endif |
|
223 |
} |
|
224 |
|
|
225 |
/** |
|
226 |
* Get the number of elements in the queue. |
|
227 |
* |
|
228 |
* @param q the queue to get the size of |
|
229 |
* @return the size of the queue |
|
230 |
**/ |
|
231 |
int queue_size(Queue* q) |
|
232 |
{ |
|
233 |
int size; |
|
234 |
|
|
235 |
#ifndef ROBOT |
|
236 |
pthread_mutex_lock(&(q->lock)); |
|
237 |
#endif |
|
238 |
|
|
239 |
size = q->size; |
|
240 |
|
|
241 |
#ifndef ROBOT |
|
242 |
pthread_mutex_unlock(&(q->lock)); |
|
243 |
#endif |
|
244 |
|
|
245 |
return size; |
|
246 |
} |
|
247 |
|
|
248 |
/** |
|
249 |
* Check if the queue is empty. |
|
250 |
* |
|
251 |
* @param q the queue to check |
|
252 |
* @return nonzero if the queue is empty, 0 otherwise |
|
253 |
**/ |
|
254 |
int queue_is_empty(Queue* q) |
|
255 |
{ |
|
256 |
int result; |
|
257 |
|
|
258 |
#ifndef ROBOT |
|
259 |
pthread_mutex_lock(&(q->lock)); |
|
260 |
#endif |
|
261 |
|
|
262 |
result = q->size == 0; |
|
263 |
|
|
264 |
#ifndef ROBOT |
|
265 |
pthread_mutex_unlock(&(q->lock)); |
|
266 |
#endif |
|
267 |
|
|
268 |
return result; |
|
269 |
} |
|
270 |
|
trunk/code/behaviors/bfs_fsm/smart_run_around_fsm.c | ||
---|---|---|
1 |
#include <dragonfly_lib.h> |
|
2 |
#include "smart_run_around_fsm.h" |
|
3 |
|
|
4 |
/*A simple behavior for navigating in an environment, i.e. avoiding walls and getting stuck. |
|
5 |
Could be better at not getting stuck. |
|
6 |
|
|
7 |
Latest revision only has two accessible states: move and reverse. |
|
8 |
*/ |
|
9 |
|
|
10 |
/* private function */ |
|
11 |
void run_around_evaluate_state(void); |
|
12 |
|
|
13 |
void run_around_init(void) |
|
14 |
{ |
|
15 |
//range_init(); |
|
16 |
//analog_init(1); |
|
17 |
//motors_init(); |
|
18 |
//orb_init(); |
|
19 |
//orb_enable(); |
|
20 |
usb_init(); |
|
21 |
|
|
22 |
/*Start in the default state, MOVING*/ |
|
23 |
avoid_state=MOVING; |
|
24 |
/*Set timers to their maximum values.*/ |
|
25 |
crazy_count=CRAZY_MAX; |
|
26 |
backup_count=0; |
|
27 |
pControl=0; |
|
28 |
|
|
29 |
/*Initialize distances to zero.*/ |
|
30 |
d1=0; d2=0; d3=0; d4=0; d5=0; |
|
31 |
|
|
32 |
//orb_set_color(GREEN); |
|
33 |
|
|
34 |
} |
|
35 |
|
|
36 |
/*The main function, call this to update states as frequently as possible.*/ |
|
37 |
void run_around_FSM(void) { |
|
38 |
/*Default to moving.*/ |
|
39 |
avoid_state=MOVING; |
|
40 |
|
|
41 |
/*The following lines ensure that undefined (-1) values |
|
42 |
will not update the distances.*/ |
|
43 |
int temp; |
|
44 |
|
|
45 |
temp=range_read_distance(IR1); |
|
46 |
d1=(temp == -1) ? d1 : temp; |
|
47 |
|
|
48 |
temp=range_read_distance(IR2); |
|
49 |
d2=(temp == -1) ? d2 : temp; |
|
50 |
|
|
51 |
temp=range_read_distance(IR3); |
|
52 |
d3=(temp == -1) ? d3 : temp; |
|
53 |
|
|
54 |
temp=range_read_distance(IR4); |
|
55 |
d4=(temp == -1) ? d4 : temp; |
|
56 |
|
|
57 |
temp=range_read_distance(IR5); |
|
58 |
d5=(temp == -1) ? d5 : temp; |
|
59 |
|
|
60 |
/*If the crazy count is in it's >>3 range, it acts crazy.*/ |
|
61 |
if(crazy_count<=(CRAZY_MAX>>3)) |
|
62 |
{ |
|
63 |
avoid_state=CRAZY; |
|
64 |
crazy_count--; |
|
65 |
|
|
66 |
if(crazy_count<0) crazy_count=CRAZY_MAX; |
|
67 |
|
|
68 |
run_around_evaluate_state(); |
|
69 |
return; |
|
70 |
} |
|
71 |
|
|
72 |
//Checks the forward distance to see if it should back up, if so...state backwards. |
|
73 |
if((d2!=-1)&&(d2 < 150)){ |
|
74 |
backup_count=BACKUP_MAX; |
|
75 |
avoid_state=BACKWARDS; |
|
76 |
run_around_evaluate_state(); |
|
77 |
return; |
|
78 |
} |
|
79 |
/* |
|
80 |
if(d1 < 120 || d3 < 120) { |
|
81 |
avoid_state = BACKWARDS; |
|
82 |
backup_count = BACKUP_MAX; |
|
83 |
run_around_evaluate_state(); |
|
84 |
return; |
|
85 |
} |
|
86 |
*/ |
|
87 |
if(backup_count<BACKUP_MAX){ |
|
88 |
avoid_state=BACKWARDS; |
|
89 |
if(backup_count<0) |
|
90 |
backup_count=BACKUP_MAX; |
|
91 |
run_around_evaluate_state(); |
|
92 |
return; |
|
93 |
} |
|
94 |
|
|
95 |
/*Should evaluate an expression from -255 to 255 to pass to move.*/ |
|
96 |
pControl= ((d3-d1) + (d4-d5)) >> TURN_CONSTANT; |
|
97 |
|
|
98 |
if(pControl>PCONTROL_CRAZY_LIMIT || pControl<-PCONTROL_CRAZY_LIMIT) crazy_count--; |
|
99 |
/*i.e. if you really want to turn for an extended period of time...you're probably stuck.*/ |
|
100 |
|
|
101 |
/*Debug stuff:*/ |
|
102 |
/*usb_puts("pControl evaluating: "); |
|
103 |
usb_puti(pControl); |
|
104 |
usb_puts("\n\r"); |
|
105 |
usb_puts("IR1: "); |
|
106 |
usb_puti(d1); |
|
107 |
usb_puts(" IR2: "); |
|
108 |
usb_puti(d2); |
|
109 |
usb_puts(" IR3: "); |
|
110 |
usb_puti(d3); |
|
111 |
usb_puts(" IR4: "); |
|
112 |
usb_puti(d4); |
|
113 |
usb_puts(" IR5: "); |
|
114 |
usb_puti(d5); |
|
115 |
usb_puts("\n\r");*/ |
|
116 |
|
|
117 |
run_around_evaluate_state(); |
|
118 |
} |
|
119 |
|
|
120 |
|
|
121 |
//Acts on state change. |
|
122 |
void run_around_evaluate_state(){ |
|
123 |
switch(avoid_state){ |
|
124 |
case(MOVING): //orb_set_color(GREEN); |
|
125 |
move(STRAIT_SPEED,-pControl); |
|
126 |
break; |
|
127 |
|
|
128 |
case(BACKWARDS): //orb_set_color(ORANGE); |
|
129 |
move(-STRAIT_SPEED,0); |
|
130 |
break; |
|
131 |
|
|
132 |
case(CRAZY): //orb_set_color(RED); |
|
133 |
/*TODO: Implement a crazy state.*/ |
|
134 |
move(STRAIT_SPEED,-pControl); |
|
135 |
break; |
|
136 |
|
|
137 |
default: |
|
138 |
/*Should never get here, go strait.*/ |
|
139 |
move(100,0); //orb_set_color(BLUE); |
|
140 |
break; |
|
141 |
} |
|
142 |
} |
|
143 |
|
|
144 |
|
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