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Revision 733

Added by Chris Mar about 16 years ago

reverted projects/template/ directory to pre-demo state. moved run_around demo code into behaviors/smart_run_around_fsm/ directory.

View differences:

smart_run_around_fsm.h
13 13 
#define LEFT 37             //Left
14 14 
#define RIGHT 39            //Right
15 15 

  		




  16
  
  
    
#define BACKUP_MAX 20


  		




  
  16
  
    
#define BACKUP_MAX 60


  		




  17
  17
  
    
#define CRAZY_MAX 200       //The number of counts between "crazy moments"


  		




  18
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#define STRAIT_SPEED 185    //The speed when going strait or backing up.


  		




  19
  19
  
    
#define TURN_CONSTANT 2


  		




  20
  20
  
    
#define PCONTROL_CRAZY_LIMIT 80


  		




  21
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int avoid_state;    /*State machine variable.*/


  		




  
  22
  
    
int avoid_state;


  		




  
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int prev_state;    /*State machine variable.*/


  		




  23
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int crazy_count;    /*Counter for a 'get unstuck' behavior.*/


  		




  24
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int backup_count;	/*Counter for backup duration.*/


  		












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