Revision 759
fiddled with run around, filmed some demos. i have yet to make videos...i need to look that up
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/departing.c | ||
|---|---|---|
| 33 | 33 |
{
|
| 34 | 34 |
int front_distance = range_read_distance(IR2); |
| 35 | 35 |
|
| 36 |
if(front_distance != -1 && front_distance < 160)
|
|
| 36 |
if(front_distance != -1 && front_distance < 200)
|
|
| 37 | 37 |
leave_station_count++; |
| 38 | 38 |
else |
| 39 | 39 |
leave_station_count = 0; |
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/smart_run_around_fsm.c | ||
|---|---|---|
| 24 | 24 |
/*Initialize distances to zero.*/ |
| 25 | 25 |
d1=0; d2=0; d3=0; d4=0; d5=0; |
| 26 | 26 |
|
| 27 |
orb_set_color(CYAN);
|
|
| 27 |
orb_set_color(BLUE);
|
|
| 28 | 28 |
|
| 29 | 29 |
} |
| 30 | 30 |
|
| ... | ... | |
| 67 | 67 |
|
| 68 | 68 |
//Checks the forward distance to see if it should back up, if so...state backwards. |
| 69 | 69 |
if((d2!=-1)&&(d2 < 150)){
|
| 70 |
if(prev_state == MOVING) {
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|
| 71 |
delay_motors(); |
|
| 72 |
} |
|
| 73 | 70 |
backup_count=BACKUP_MAX; |
| 74 | 71 |
avoid_state=BACKWARDS; |
| 75 | 72 |
evaluate_state(); |
| ... | ... | |
| 85 | 82 |
return; |
| 86 | 83 |
} |
| 87 | 84 |
|
| 88 |
if(prev_state == BACKWARDS) {
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|
| 89 |
delay_motors(); |
|
| 90 |
} |
|
| 91 | 85 |
//usb_puts("avoid_state set to MOVING\n\r");
|
| 92 | 86 |
avoid_state = MOVING; |
| 93 | 87 |
|
| ... | ... | |
| 121 | 115 |
void evaluate_state(){
|
| 122 | 116 |
switch(avoid_state){
|
| 123 | 117 |
case(MOVING): //orb_set_color(GREEN); |
| 118 |
if(prev_state == BACKWARDS) {
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|
| 119 |
delay_motors(); |
|
| 120 |
} |
|
| 124 | 121 |
move(STRAIT_SPEED,-pControl); |
| 125 | 122 |
//motor1_set(FORWARD,200); |
| 126 | 123 |
//motor2_set(FORWARD,200); |
| 127 | 124 |
break; |
| 128 | 125 |
|
| 129 | 126 |
case(BACKWARDS): //orb_set_color(RED); |
| 127 |
if(prev_state == MOVING) {
|
|
| 128 |
delay_motors(); |
|
| 129 |
} |
|
| 130 | 130 |
move(-STRAIT_SPEED-50,0); |
| 131 | 131 |
//motor1_set(BACKWARD,200); |
| 132 | 132 |
//motor2_set(BACKWARD,200); |
| ... | ... | |
| 134 | 134 |
|
| 135 | 135 |
case(CRAZY): //orb_set_color(RED); |
| 136 | 136 |
/*TODO: Implement a crazy state.*/ |
| 137 |
if(prev_state == BACKWARDS) {
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|
| 138 |
delay_motors(); |
|
| 139 |
} |
|
| 137 | 140 |
move(STRAIT_SPEED,-pControl); |
| 138 | 141 |
break; |
| 139 | 142 |
|
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/smart_run_around_fsm.h | ||
|---|---|---|
| 15 | 15 |
|
| 16 | 16 |
#define BACKUP_MAX 60 |
| 17 | 17 |
#define CRAZY_MAX 200 //The number of counts between "crazy moments" |
| 18 |
#define STRAIT_SPEED 175 //The speed when going strait or backing up.
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|
| 18 |
#define STRAIT_SPEED 162 //The speed when going strait or backing up.
|
|
| 19 | 19 |
#define TURN_CONSTANT 5 |
| 20 | 20 |
#define PCONTROL_CRAZY_LIMIT 80 |
| 21 | 21 |
|
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