Revision 711
added slowing feature to bfs as it approaches its target, and fixed some rangefinder distances.
added code to allow for better transitioning to seek the final robot in a multiple robot scenario, but needs testing.
bfs_fsm.h | ||
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#define BFS_STRAIGHT_SPEED 160 |
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#define BFS_ORBIT_DISTANCE 120 /* distance to start orbit around robot */ |
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#define BFS_SLOW_DISTANCE 350 |
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#define BFS_SLOW_SPEED 150 |
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#define BFS_STOP_DISTANCE 100 /* distance to stop for object */
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#define BFS_ORBIT_DISTANCE 250 /* distance to start orbit around robot */
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#define BFS_STOP_DISTANCE 120 /* distance to stop for object */ |
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#define BFS_MAX_ROBOTS 20 /* max id of robot in project */ |
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#define BFS_NO_VAL 255 |
... | ... | |
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int bfs_state; /*State machine variable.*/ |
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int bfs_speed; |
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int bfs_otherRobot; /* the robot we are seeking */ |
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int bfs_my_id; /* my wireless id */ |
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