Revision 733
reverted projects/template/ directory to pre-demo state. moved run_around demo code into behaviors/smart_run_around_fsm/ directory.
| smart_run_around_fsm.c | ||
|---|---|---|
| 11 | 11 |
void run_around_init(void) |
| 12 | 12 |
{
|
| 13 | 13 |
range_init(); |
| 14 |
analog_init(); |
|
| 15 |
motors_init(); |
|
| 16 |
orb_init(); |
|
| 17 |
orb_enable(); |
|
| 18 |
usb_init(); |
|
| 19 | 14 |
|
| 20 | 15 |
/*Start in the default state, MOVING*/ |
| 21 | 16 |
avoid_state=MOVING; |
| 22 | 17 |
/*Set timers to their maximum values.*/ |
| 23 | 18 |
crazy_count=CRAZY_MAX; |
| 24 |
backup_count=0;
|
|
| 19 |
backup_count=BACKUP_MAX;
|
|
| 25 | 20 |
pControl=0; |
| 26 | 21 |
|
| 27 | 22 |
/*Initialize distances to zero.*/ |
| ... | ... | |
| 123 | 118 |
move(STRAIT_SPEED,-pControl); |
| 124 | 119 |
break; |
| 125 | 120 |
|
| 126 |
case(BACKWARDS): orb_set_color(ORANGE);
|
|
| 127 |
move(-STRAIT_SPEED,0); |
|
| 121 |
case(BACKWARDS): orb_set_color(MAGENTA);
|
|
| 122 |
move(-STRAIT_SPEED-50,0);
|
|
| 128 | 123 |
break; |
| 129 | 124 |
|
| 130 | 125 |
case(CRAZY): orb_set_color(RED); |
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