Revision 697
replaced smart_run_around with demo version from trunk. works much better now.
| smart_run_around_fsm.c | ||
|---|---|---|
| 10 | 10 |
|
| 11 | 11 |
void run_around_init(void) |
| 12 | 12 |
{
|
| 13 |
// range_init(); |
|
| 14 |
// analog_init(); |
|
| 15 |
// motors_init(); |
|
| 16 |
// orb_init(); |
|
| 17 |
// orb_enable(); |
|
| 18 |
// usb_init(); |
|
| 13 |
range_init(); |
|
| 19 | 14 |
|
| 20 | 15 |
/*Start in the default state, MOVING*/ |
| 21 | 16 |
avoid_state=MOVING; |
| ... | ... | |
| 33 | 28 |
|
| 34 | 29 |
/*The main function, call this to update states as frequently as possible.*/ |
| 35 | 30 |
void run_around_FSM(void) {
|
| 36 |
/*Default to moving.*/ |
|
| 31 |
/*Default to moving.*/
|
|
| 37 | 32 |
avoid_state=MOVING; |
| 38 | 33 |
|
| 39 | 34 |
/*The following lines ensure that undefined (-1) values |
| ... | ... | |
| 41 | 36 |
int temp; |
| 42 | 37 |
|
| 43 | 38 |
temp=range_read_distance(IR1); |
| 44 |
//d1=(temp == -1) ? d1 : temp; |
|
| 45 |
d1 = temp; |
|
| 39 |
d1=(temp == -1) ? d1 : temp; |
|
| 46 | 40 |
|
| 47 | 41 |
temp=range_read_distance(IR2); |
| 48 |
//d2=(temp == -1) ? d2 : temp; |
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| 49 |
d2 = temp; |
|
| 42 |
d2=(temp == -1) ? d2 : temp; |
|
| 50 | 43 |
|
| 51 | 44 |
temp=range_read_distance(IR3); |
| 52 |
//d3=(temp == -1) ? d3 : temp; |
|
| 53 |
d3 = temp; |
|
| 45 |
d3=(temp == -1) ? d3 : temp; |
|
| 54 | 46 |
|
| 55 | 47 |
temp=range_read_distance(IR4); |
| 56 |
//d4=(temp == -1) ? d4 : temp; |
|
| 57 |
d4 = temp; |
|
| 48 |
d4=(temp == -1) ? d4 : temp; |
|
| 58 | 49 |
|
| 59 | 50 |
temp=range_read_distance(IR5); |
| 60 |
//d5=(temp == -1) ? d5 : temp; |
|
| 61 |
d5 = temp; |
|
| 51 |
d5=(temp == -1) ? d5 : temp; |
|
| 62 | 52 |
|
| 63 |
//If the crazy count is in it's >>3 range, it acts crazy.
|
|
| 53 |
/*If the crazy count is in it's >>3 range, it acts crazy.*/
|
|
| 64 | 54 |
if(crazy_count<=(CRAZY_MAX>>3)) |
| 65 | 55 |
{
|
| 66 | 56 |
avoid_state=CRAZY; |
| ... | ... | |
| 73 | 63 |
} |
| 74 | 64 |
|
| 75 | 65 |
//Checks the forward distance to see if it should back up, if so...state backwards. |
| 76 |
if((d2!=-1)&&(d2 < 200)){
|
|
| 66 |
if((d2!=-1)&&(d2 < 150)){
|
|
| 77 | 67 |
backup_count=BACKUP_MAX; |
| 78 | 68 |
avoid_state=BACKWARDS; |
| 79 | 69 |
evaluate_state(); |
| 80 | 70 |
return; |
| 81 | 71 |
} |
| 72 |
/* |
|
| 73 |
if(d1 < 120 || d3 < 120) {
|
|
| 74 |
avoid_state = BACKWARDS; |
|
| 75 |
backup_count = BACKUP_MAX; |
|
| 76 |
evaluate_state(); |
|
| 77 |
return; |
|
| 78 |
} |
|
| 79 |
*/ |
|
| 82 | 80 |
if(backup_count<BACKUP_MAX){
|
| 83 |
avoid_state=BACKWARDS; |
|
| 81 |
avoid_state=BACKWARDS;
|
|
| 84 | 82 |
if(backup_count<0) |
| 85 | 83 |
backup_count=BACKUP_MAX; |
| 86 | 84 |
evaluate_state(); |
| 87 | 85 |
return; |
| 88 | 86 |
} |
| 89 | 87 |
|
| 90 |
//Should evaluate an expression from -255 to 255 to pass to move.
|
|
| 88 |
/*Should evaluate an expression from -255 to 255 to pass to move.*/
|
|
| 91 | 89 |
pControl= ((d3-d1) + (d4-d5)) >> TURN_CONSTANT; |
| 92 | 90 |
|
| 93 | 91 |
if(pControl>PCONTROL_CRAZY_LIMIT || pControl<-PCONTROL_CRAZY_LIMIT) crazy_count--; |
| 94 |
//i.e. if you really want to turn for an extended period of time...you're probably stuck.
|
|
| 92 |
/*i.e. if you really want to turn for an extended period of time...you're probably stuck.*/
|
|
| 95 | 93 |
|
| 96 | 94 |
/*Debug stuff:*/ |
| 97 | 95 |
/*usb_puts("pControl evaluating: ");
|
| ... | ... | |
| 120 | 118 |
move(STRAIT_SPEED,-pControl); |
| 121 | 119 |
break; |
| 122 | 120 |
|
| 123 |
case(BACKWARDS): orb_set_color(ORANGE);
|
|
| 124 |
move(BACK_SPEED,0);
|
|
| 121 |
case(BACKWARDS): orb_set_color(MAGENTA);
|
|
| 122 |
move(-STRAIT_SPEED-50,0);
|
|
| 125 | 123 |
break; |
| 126 | 124 |
|
| 127 | 125 |
case(CRAZY): orb_set_color(RED); |
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