root / trunk / code / projects / template / smart_run_around_fsm.c @ 708
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1 | 696 | cmar | #include "dragonfly_lib.h" |
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2 | #include "smart_run_around_fsm.h" |
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3 | |||
4 | /*A simple behavior for navigating in an environment, i.e. avoiding walls and getting stuck.
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5 | Could be better at not getting stuck.
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6 | |||
7 | Latest revision only has two accessible states: move and reverse.
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8 | */
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9 | |||
10 | |||
11 | void run_around_init(void) |
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12 | { |
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13 | range_init(); |
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14 | |||
15 | /*Start in the default state, MOVING*/
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16 | avoid_state=MOVING; |
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17 | /*Set timers to their maximum values.*/
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18 | crazy_count=CRAZY_MAX; |
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19 | backup_count=BACKUP_MAX; |
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20 | pControl=0;
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21 | |||
22 | /*Initialize distances to zero.*/
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23 | d1=0; d2=0; d3=0; d4=0; d5=0; |
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24 | |||
25 | orb_set_color(GREEN); |
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26 | |||
27 | } |
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28 | |||
29 | /*The main function, call this to update states as frequently as possible.*/
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30 | void run_around_FSM(void) { |
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31 | /*Default to moving.*/
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32 | avoid_state=MOVING; |
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33 | |||
34 | /*The following lines ensure that undefined (-1) values
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35 | will not update the distances.*/
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36 | int temp;
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37 | |||
38 | temp=range_read_distance(IR1); |
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39 | d1=(temp == -1) ? d1 : temp;
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40 | |||
41 | temp=range_read_distance(IR2); |
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42 | d2=(temp == -1) ? d2 : temp;
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43 | |||
44 | temp=range_read_distance(IR3); |
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45 | d3=(temp == -1) ? d3 : temp;
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46 | |||
47 | temp=range_read_distance(IR4); |
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48 | d4=(temp == -1) ? d4 : temp;
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49 | |||
50 | temp=range_read_distance(IR5); |
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51 | d5=(temp == -1) ? d5 : temp;
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52 | |||
53 | /*If the crazy count is in it's >>3 range, it acts crazy.*/
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54 | if(crazy_count<=(CRAZY_MAX>>3)) |
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55 | { |
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56 | avoid_state=CRAZY; |
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57 | crazy_count--; |
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58 | |||
59 | if(crazy_count<0) crazy_count=CRAZY_MAX; |
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60 | |||
61 | evaluate_state(); |
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62 | return;
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63 | } |
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64 | |||
65 | //Checks the forward distance to see if it should back up, if so...state backwards.
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66 | if((d2!=-1)&&(d2 < 150)){ |
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67 | backup_count=BACKUP_MAX; |
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68 | avoid_state=BACKWARDS; |
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69 | evaluate_state(); |
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70 | return;
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71 | } |
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72 | /*
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73 | if(d1 < 120 || d3 < 120) {
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74 | avoid_state = BACKWARDS;
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75 | backup_count = BACKUP_MAX;
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76 | evaluate_state();
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77 | return;
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78 | }
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79 | */
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80 | if(backup_count<BACKUP_MAX){
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81 | avoid_state=BACKWARDS; |
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82 | if(backup_count<0) |
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83 | backup_count=BACKUP_MAX; |
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84 | evaluate_state(); |
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85 | return;
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86 | } |
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87 | |||
88 | /*Should evaluate an expression from -255 to 255 to pass to move.*/
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89 | pControl= ((d3-d1) + (d4-d5)) >> TURN_CONSTANT; |
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90 | |||
91 | if(pControl>PCONTROL_CRAZY_LIMIT || pControl<-PCONTROL_CRAZY_LIMIT) crazy_count--;
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92 | /*i.e. if you really want to turn for an extended period of time...you're probably stuck.*/
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93 | |||
94 | /*Debug stuff:*/
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95 | /*usb_puts("pControl evaluating: ");
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96 | usb_puti(pControl);
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97 | usb_puts("\n\r");
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98 | usb_puts("IR1: ");
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99 | usb_puti(d1);
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100 | usb_puts(" IR2: ");
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101 | usb_puti(d2);
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102 | usb_puts(" IR3: ");
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103 | usb_puti(d3);
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104 | usb_puts(" IR4: ");
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105 | usb_puti(d4);
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106 | usb_puts(" IR5: ");
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107 | usb_puti(d5);
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108 | usb_puts("\n\r");*/
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109 | |||
110 | evaluate_state(); |
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111 | } |
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112 | |||
113 | |||
114 | //Acts on state change.
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115 | void evaluate_state(){
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116 | switch(avoid_state){
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117 | case(MOVING): orb_set_color(GREEN);
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118 | move(STRAIT_SPEED,-pControl); |
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119 | break;
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120 | |||
121 | case(BACKWARDS): orb_set_color(MAGENTA);
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122 | move(-STRAIT_SPEED-50,0); |
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123 | break;
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124 | |||
125 | case(CRAZY): orb_set_color(RED);
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126 | /*TODO: Implement a crazy state.*/
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127 | move(STRAIT_SPEED,-pControl); |
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128 | break;
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129 | |||
130 | default:
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131 | /*Should never get here, go strait.*/
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132 | move(100,0); orb_set_color(BLUE); |
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133 | break;
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134 | } |
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135 | } |
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136 |